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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中实现了非线性mpc,并将其应用到CSRT系统中

非线性MPC在MATLAB中通常涉及使用Model Predictive Control Toolbox，该工具箱提供了处理非线性系统的功能。用户可以通过该工具箱构建非线性系统模型，定义控制目标和约束条件，并利用优化算法来解决MPC优化问题。这些功能支持用户进行复杂的控制设计和实时仿真。 CSRT（可能指“连续时间鲁棒控制”系统，具体含义需根据上下文确认）系统的应用场景中，非线性MPC可以有效应对系统的复杂动态行为和不确定性。

例如，在CSRT系统中，非线性MPC可以帮助优化控制策略，提升系统的鲁棒性和性能。通过在MATLAB中实现非线性MPC并将其应用于CSRT系统，用户能够在仿真和实际操作中验证控制策略的有效性，进而提高系统的稳定性和响应能力。总之，通过MATLAB平台实现非线性MPC并应用于CSRT系统，能够结合MATLAB的强大计算和仿真能力，实现对复杂系统的高级控制，优化系统性能，并支持对实际应用需求的精确满足。

部分代码展示：

function [sal]=cstrlmpc(ent)
global U;
global plant;
global KK;
N=plant.N;
x0=[ent(1);ent(2)];
u0 = [U(:,2:N) U(:,N)];
t0=ent(3);
T=0.2;
K=floor(t0/T);

if(K~=KK)
%if(t0==0)
 x = zeros(N+1, length(x0));
x = computeOpenloopSolution( N, T, t0, x0, u0);

    % Set control and linear bounds
    A = [];
    b = [];
    Aeq = [];
    beq = [];
    lb = [];
    ub = [];
    for k=1:N
        [Anew, bnew, Aeqnew, beqnew, lbnew, ubnew] = ...
               linearconstraints(t0+k*T,x(k,:),u0(:,k));
        A = blkdiag(A,Anew);
        b = [b, bnew];
        Aeq = blkdiag(Aeq,Aeqnew);
        beq = [beq, beqnew];
        lb = [lb, lbnew];
        ub = [ub, ubnew];
    end
options=optimset( 'Algorithm','active-set','TolFun', 1e-4,'MaxIter', 10000,'Tolcon',1e-4);
u=fmincon(@(u) costfunction(N, T, t0, x0,u), u0, A, b, Aeq, beq, lb, ub, @(u) nonlinearconstraints( N, T, t0, x0, u),options);
sal(1)=u(1,1);
sal(2)=u(2,1);
U=u;
KK=K;
end
if(K==KK)
sal(1)=U(1);
sal(2)=U(2);
end

end



function [c,ceq] = nonlinearconstraints( N, T, t0, x0, u)
    x = zeros(N+1, length(x0));
    %x = computeOpenloopSolution(N, T, t0,x0, u);
    c = [];
    ceq = [];
    for k=1:N
        [cnew, ceqnew] = constraints(t0+k*T,x(k,:),u(:,k));
        c = [c cnew];
        ceq = [ceq ceqnew];
    end
    [cnew, ceqnew] = terminalconstraints(t0+(N+1)*T,x(N+1,:));
    c = [c cnew];
    ceq = [ceq ceqnew];
end
function cost = costfunction(N, T,t0, x0, u)
    cost = 0;
    x = zeros(N+1, length(x0));
    x = computeOpenloopSolution(N, T, t0, x0, u);
    for k=1:N
        cost = cost+runningcosts(t0+k*T, x(k,:), u(:,k),T);
    end
end
function cost = runningcosts(t,x,u,T)
    a=x(1);
    b=x(2);
    c=0;
    [Tinter,Y] =ode45(@system_argument,[t,t+T],[a b c],[],u) ;
    cost=Y(size(Y,1),size(Y,2));
end
function x = computeOpenloopSolution( N, T, t0, x0, u)
    x(1,:) = x0;
    for k=1:N
        x(k+1,:) = dynamic(T, t0, x(k,:), u(:,k));
    end
end
function [x, t_intermediate, x_intermediate] = dynamic(delt, t0,x0, u)
  
        [t_intermediate,x_intermediate] = ode45(@system,[t0, t0+delt], x0, [], u);
        x = x_intermediate(size(x_intermediate,1),:);
end


function y = system(t,x,u)
y = zeros(2,1);  
global plant ;
F=plant.F;
V=plant.V;
k0=plant.k0;
E=plant.E;
TA0=plant.TA0s;
dH=plant.dH;
R=plant.R;
Cp=plant.Cp;
RR=plant.RR;
TRs=plant.TRs;
Cas=plant.Cas;
Ca0s=plant.Ca0s;
y(1) = -(F/V)*(x(1)+Cas-Ca0s)-k0*exp(-E/((TRs+x(2))*R))*(x(1)+Cas)+F/V*u(1);
y(2) = -(F/V)*(x(2)+TRs-TA0)+(-dH*k0)/(RR*Cp)*exp(-E/((TRs+x(2))*R))*(x(1)+Cas)+u(2)/(RR*Cp*V);
end
function y = system_argument(t,x,u)
y = zeros(3,1);  
global plant ;
F=plant.F;
V=plant.V;
Q=plant.Q;
r=plant.r;
k0=plant.k0;
E=plant.E;
TA0=plant.TA0s;
dH=plant.dH;
R=plant.R;
Cp=plant.Cp;
RR=plant.RR;
TRs=plant.TRs;
Cas=plant.Cas;
Ca0s=plant.Ca0s;
%x1=[x(1);x(2)];
%u1=[u(1);u(2)];
y(1) = -(F/V)*(x(1)+Cas-Ca0s)-k0*exp(-E/((TRs+x(2))*R))*(x(1)+Cas)+F/V*u(1);
y(2) = -(F/V)*(x(2)+TRs-TA0)+(-dH*k0)/(RR*Cp)*exp(-E/((TRs+x(2))*R))*(x(1)+Cas)+u(2)/(RR*Cp*V);
y(3)=x(1)^2+x(2)^2+u(1)^2+u(2)^2;
end
function [c,ceq] = constraints(t, x, u)
    c   = [];
    ceq = [];
end
function [A, b, Aeq, beq, lb, ub] = linearconstraints(t, x, u)
    A   = [];
    b   = [];
    Aeq = [];
    beq = [];
    lb  = -1;
    ub  = 1;
end
function [c,ceq] = terminalconstraints(t, x)
    c   = [];
    ceq = [];
end

效果展示：