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最新推荐文章于 2024-09-27 10:51:37 发布

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最新推荐文章于 2024-09-27 10:51:37 发布

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matlab中Toolbox中带有的模型预测工具箱

这个工具箱提供了一系列功能强大的工具和函数，用于设计、实现和验证模型预测控制（MPC）系统。MPC是一种先进的控制策略，通过建立系统模型、预测未来状态并优化控制输入，来实现系统的最优控制。在MATLAB中，Model Predictive Control Toolbox使用户能够方便地创建和测试MPC控制器。工具箱包括以下几个主要功能：

首先，它提供了多种模型构建方法，包括线性和非线性系统模型，帮助用户准确描述系统行为。

其次，工具箱内置了优化算法，用于求解MPC的优化问题，确保控制策略能够在给定的约束条件下实现最优性能。此外，工具箱还支持与Simulink的集成，使得用户可以在仿真环境中对MPC控制器进行测试和验证。这个工具箱对工程师和研究人员尤其重要，因为它简化了MPC的设计和实现过程，提供了直观的界面和强大的计算功能，能够处理复杂的控制问题并加速开发周期。

部分代码展示：

%% Control of a Multi-Input Multi-Output Nonlinear Plant

%%
% This demonstration shows how to use MPC to control a multi-input
% multi-output nonlinear system. The system has 3 manipulated variables and
% 2 measured outputs.

% Copyright 1990-2011 The MathWorks, Inc.
% $Revision: 1.1.8.17.2.1 $  $Date: 2011/06/10 16:40:11 $   

%% Open-Loop Model: Linearize Nonlinear System
if ~mpcchecktoolboxinstalled('simulink')
    disp('Simulink(R) is required to run this demo.')
    return
end
if ~mpcchecktoolboxinstalled('scd')
    disp('Simulink Control Design(R) is required to run this demo.')
    return
end

%%
% The nonlinear model is described in the Simulink(R) diagram
% "mpc_nonlinmodel.mdl" and we linearize the nonlinear model at the
% default operating point using the "linearize" function from Simulink
% Control Design.   
model = linearize('mpc_nonlinmodel'); 

%% MPC Controller Setup
% Let us define the plant model that will be used for MPC control. First,
% we get a discrete-time version of the linearized model:
Ts=.2;                          %Sampling time
model=c2d(model,Ts);      %Convert to discrete time

%%
% Assign names to I/O variables (note: the model has no physical meaning).
model.InputName={'Mass Flow';'Heat Flow';'Pressure'};  
model.OutputName={'Temperature';'Level'};
model.InputUnit = {'kg/s' 'J/s' 'Pa'};
model.OutputUnit = {'K' 'm'};

%%
% Define I/O constraints and units.
clear InputSpecs OutputSpecs
InputSpecs(1)=struct('Min',-3,'Max',3,'RateMin',-1000,'Ratemax',Inf);
InputSpecs(2)=struct('Min',-2,'Max',2,'RateMin',-1000,'Ratemax',Inf);
InputSpecs(3)=struct('Min',-2,'Max',2,'RateMin',-1000,'Ratemax',Inf);
OutputSpecs(1)=struct('Min',-Inf,'Max',Inf);
OutputSpecs(2)=struct('Min',-Inf,'Max',Inf);

%%
% Define weights on manipulated and controlled variables.
Weights=struct('ManipulatedVariables',[0 0 0],...
   'ManipulatedVariablesRate',[.1 .1 .1],...
   'OutputVariables',[1 1]);

%% 
% Define prediction and control horizons, and set up the MPC object.
p=5;
m=2;
MPCobj=mpc(model,Ts,p,m,Weights,InputSpecs,OutputSpecs);

%% MPC Simulation Using Simulink(R)
% Run simulation.
Tfinal=8;
open_system('mpc_nonlinear')    % Open Simulink(R) Model
sim('mpc_nonlinear',Tfinal);    % Start Simulation

%% MPC Simulation with Ramp Signals
% Now we modify the MPC design in order to track ramp signals.
%
% In order to track a ramp, a triple integrator is defined as an output 
% disturbance model on both outputs.
outdistmodel=tf({1 0;0 1},{[1 0 0 0],1;1,[1 0 0 0]});
setoutdist(MPCobj,'model',outdistmodel);

%%
% Run simulation.
Tfinal=12;
bdclose('mpc_nonlinear');               
open_system('mpc_nonlinear_setoutdist') % Open Simulink(R) Model
sim('mpc_nonlinear_setoutdist',Tfinal); % Start Simulation

%% MPC Simulation without Constraints
% Now we get a linear version of the MPC controller.
%
% When the constraints are not active, the MPC controller behaves like a
% linear controller. We can then get the state-space form of the MPC 
% controller.

%%
% Get the linear equivalent in SS form of the MPC controller.
LTIMPC=ss(MPCobj,'r');

%%
% The input to the linear controller LTIMPC is the vector [ym;r], where ym
% is the vector of measured outputs, and r is the vector of output
% references.

%%
% Remove constraints from MPC controller.
MPCobj.MV=[];

%%
% Run simulation.
refs=[1;1];                         % output references are step signals
setoutdist(MPCobj,'integrators');   % reset output disturbance model
Tfinal=8;
bdclose('mpc_nonlinear_setoutdist');
open_system('mpc_nonlinear_ss')     % Open Simulink(R) Model
sim('mpc_nonlinear_ss',Tfinal);     % Start Simulation

%% Compare Simulation Results
fprintf('Compare output trajectories: ||ympc-ylin||=%g\n',norm(ympc-ylin));
disp('The MPC controller and the linear controller produce the same closed-loop trajectories.');

%%
bdclose('mpc_nonlinear_ss')         
displayEndOfDemoMessage(mfilename)

效果展示：