matlab mpc仿真实例,MPC仿真程序MATLAB.pdf

MPC仿真程序MATLAB

clear

clc

A=[0.8 0;0.8 1];

B=[0.1;0.1];

C=[0 1];

D=0;

P=10;

M=4;

MAX=15;

MIN=-MAX;

N=50;

% Performance wights

Q=eye(P);

R=0.01*eye(M);

%Q1=eye(P*ncr);

R1=ones(P,1);

% Predefined reference

Re=zeros(50,1);

Re(1:15)=2;

Re(16:30)=5;

Re(31:40)=2;

[nbr,nbc]=size(B);

[nar,nac]=size(A);

[ncr,ncc]=size(C);

%x0=[1;1];

%u(0)=0;

y=zeros(N,1);

u=zeros(N,1);

%%

S=zeros(P*ncr,M*nbc);

for i=0:P-1

for j=0:M-1

if i>=j

S(i*ncr+1:(i+1)*ncr,j*nbc+1:(j+1)*nbc)=C*A^(i-j)*B;

end

end

end

%%

T=zeros(P*ncr,nac);

for i=0:P-1

T(i*ncr+1:(i+1)*ncr,:)=C*A^(i+1);

end

S_S=S'*S;

S_T=S'*T;

S_R1=S'*R1;

x0=[0;0];

u0=0;

% Uk=zeros(N,1);

% H=2*(R1+S'*Q1*S);

% f1=T*x0-Re;

% Y=2*(Q+T'*Q1*T);

% uk=u0;

for k=1:N

A_co=[eye(M);-eye(M)];

b_co=[MAX*ones(4,1);-1*MIN*ones(4,1)];

U=quadprog(2*(S_S+R),-2*S'*(R1*Re(k)-T*x0),A_co,b_co);

u(k)=U(1);

if k==1

Uk(k)=u(k);

else

Uk(k)=Uk(k-1)+u(k);

end

y(k)=C*x0+D*u(k);

x0=A*x0+B*u(k) ;

end

%figure(1)

subplot(2,1,1)

hold on

plot(Re,'r')

plot(y)

title('output y')

%figure(2)

text(40,5,'Red:set')

text(40,4,'Blue:y')

subplot(2,1,2)

hold on

plot(u,'r')

%title('input delta u')

%figure(3)

plot(Uk)

title('input u')

text(40,17,'Red:delta u')

text(40,12,'Blue:u')