181号资源-源程序：非线性MPC问题求解-----已提供下载资源

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最新推荐文章于 2024-09-21 08:15:00 发布

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在非线性MPC中，系统的动态行为被描述为非线性方程，而不像线性MPC那样简化为线性模型。非线性系统的复杂性使得控制问题更加挑战，因为非线性特性可能导致优化问题具有多个局部最优解，增加了求解的难度。

求解非线性MPC问题的关键步骤包括：首先，建立准确的非线性系统模型，这可能涉及到复杂的数学表达式来描述系统的行为。接下来，定义控制目标和约束条件，例如最小化误差、能耗或其他性能指标，并考虑系统的物理限制或操作约束。然后，使用适当的优化算法来求解这个优化问题。非线性优化问题通常需要高效的算法，如梯度下降法、牛顿法或启发式算法（如遗传算法、粒子群优化），以处理非线性特性和大规模计算。

解决非线性MPC问题还需要处理实时计算和数据采集，这对算法的计算效率提出了高要求。在实际应用中，如自动驾驶、机器人控制和工业过程控制中，非线性MPC可以提供更精确的控制策略，从而提高系统的性能和稳定性。通过有效求解非线性MPC问题，能够实现对复杂动态系统的高级控制，满足实际应用中的各种需求。

部分代码展示：


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Next, start the main loop:
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

for kk=1:length(NN)
	N=NN(kk); % Next projection length

	h=0*ones(1,Nnc+1);  % Allocate memory
	hp=0*ones(1,Nnc+1);
	hmm=0*ones(1,Nnc+1);
	h(1)=1;     % Initial liquid level 
	hp(1)=1;     % Initial liquid level  (for plant with a PI controller)
	hmm(1)=1;     % Initial liquid level  (for model with a PI controller)

	% Allocate memory for projection variables

	hm=0*ones(N+1,length(Kpvec),length(Kivec));
	em=0*ones(N,length(Kpvec),length(Kivec));
	um=0*ones(N,length(Kpvec),length(Kivec));

	J=0*ones(length(Kpvec),length(Kivec));
	rowindex=0*ones(1,Nnc);
	colindex=0*ones(1,Nnc);

	% Also, allocate memory for the control inputs and error

	up=0*ones(1,Nnc);
	umm=0*ones(1,Nnc);
	u=0*ones(1,Nnc);

	ep=0*ones(1,Nnc);
	emm=0*ones(1,Nnc);
	e=0*ones(1,Nnc);
	
	% Initialize controller integrator:

	sume=0;
	sumep=0;
	sumemm=0;

for k=1:Nnc

	%---------------------------------------------------------------
	% Define the controller (for plant), where test single Kp, Ki gains
	
	ep(k)=r(k)-hp(k);
	sumep=sumep+ep(k); % Compute integral approx.
	
	up(k)=Kp*ep(k)+Ki*sumep;
			
	% In implementation, the input flow is restricted 
	% by some physical contraints. So we have to put a
	% limit for the input flow that is chosen as 50.

    if up(k)>50
      up(k)=50;
    end
    if up(k)<-50
     up(k)=-50;
    end

	% Plant equations
	
	Ap=abs(abar*hp(k)+bbar); % Cross-sectional area

	alphap=hp(k)-T*dbar*sqrt(2*g*hp(k))/Ap; % Nonlinear dynamics
	betap=T*cbar/Ap;

	hp(k+1)=alphap+betap*up(k); % Compute plant output
	hp(k+1)=max([0.001,hp(k+1)]); % Constraint liquid not to go
							    % negative

	%---------------------------------------------------------------
	% Define the controller (for model), also where test single Kp, Ki
	% gains - here for the purpose of seeing how good the model is
	% (test model validity by seeing if it reacts similarly to the plant
	% for the same control system).
	
	emm(k)=r(k)-hmm(k);
	sumemm=sumemm+emm(k); % Compute integral approx.
	
	umm(k)=Kp*emm(k)+Ki*sumemm;
			
	% In implementation, the input flow is restricted 
	% by some physical contraints. So we have to put a
	% limit for the input flow that is chosen as 50.

    if umm(k)>50
      umm(k)=50;
    end
    if umm(k)<-50
     umm(k)=-50;
    end

	% Model equations
	
	Amm=abarm*hmm(k)^2 +bbarm; % Cross-sectional area (model)

	alphamm=hmm(k)-T*dbarm*sqrt(2*g*hmm(k))/Amm; % Nonlinear dynamics (model)
	betamm=T*cbarm/Amm;

	hmm(k+1)=alphamm+betamm*umm(k); % Compute plant output
	hmm(k+1)=max([0.001,hmm(k+1)]); % Constraint liquid not to go
							        % negative

	%---------------------------------------------------------------
	% Define the planner that uses the model to control the plant
	% (of course this is the primary thing that we want to study)
	
	e(k)=r(k)-h(k); % Compute error
	sume=sume+e(k); % Compute integral approx.

效果展示：

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