[工学]Lecture_9_-_约束预测控制算法.pptVIP

Lecture 9 约束预测控制 Zuo Yan Institute of Information and Control Hangzhou Dianzi University Email: yzuo@hdu.edu.cn 2010-11-30 Outline 约束预测控制问题 二次规划问题(QP)求解方法 约束优化问题启发式方法 Summary of Predictive Control At each time instant, a predictive controller: 1) Takes a measurement of the system state/output 2) Computes a nite horizon control sequence that (a) Uses an internal model to predict system behavior (b) Minimizes some cost function (c) Doesnt violate any constraints 3) Implements the first part of the optimal sequence This is a feedback control law Properties of RHC technique Is this a new idea? No . Standard finite horizon optimal control. Yes . Optimization in the loop. The main problems: Optimization needs to be fast enough. Problems with finite horizon constraint satisfaction. The resulting control law might not be stable. The main advantages: Systematic method for handling constraints. Flexible performance specifications. Computational Speed and Applications Historically, RHC/MPC has been used on slow processes: Petrochemical and process industries, pulp and paper Sample time of seconds to hours Major advances in hardware and algorithms Computation of 1 minutes in 1990 ) now less than 1s RHC/MPC now being applied to fast processes: Automotive traction and engine control Aerospace applications Autonomous vehicles Electricity generation and distribution Digital (Sampled-Data) Control Constraints in Control All physical systems have constraints: Physical constraints, e.g. actuator limits Performance constraints, e.g. overshoot Safety constraints, e.g. temperature/pressure limits Optimal operating points are often near constraints Most control methods address constraints a posteriori: Anti-windup methods, trial and error Constraints in Control 最佳操作工况往往处于过程的一个甚至多个约束边界上（约束与价格因素有关） 实际的操作限制（如阀的开度等） 设备的限制（如塔的最大工作温度和压力） 操作的极限（压缩机的喘振限制、塔的操作压力等） Constraints in Control 产品的质量指标（汽油的干点、煤油的比重、柴油的凝固点等） Optimal Operation and Constraints Classical Control No knowledge of constr