预测控制及其在变流器控制与电机驱动中的应用.ppt

* * * * * * * * * * * * * * * * Page * Model Predictive ControlHistory ? Future Model Predictive ControlOverview Page * Page * Direct Model Predictive Control System Model / Cost Function  Characteristicsof Model Based Predictive Control basic ideas are derived from state-space control the past is explicitely considered (mostly by the system state) future control values are pre-calculated and optimized until a (pre-)defined ?horizon“ the first of the precalculated control values only is transmitted to the controlled system model parameters can be estimated on-line extension to MIMO-control is possible with little additional effort use of non-linear model is possible for non-linear control systems a lot of calculation power is required strategy Np max. calculation time cases complete enumeration 2 35 μs 64 online-optimization is not applicable for drive control Calculation TimesDMPC - control, implicite solution complete enumeration 3 500 μs 512 branch and bound 2 27 μs ? 64 branch and bound 3 186 μs ? 512 processor: 900 MHz AMD Duron, 128 MB RAMLinux 2.2.14 with RTAI 1.3 Model Based Predictive Current Control there are 7 (or 8) possiblities for “the following switching state” the respective system behaviour (current) can be calculated in advance complete enumeration ? extensive processing power needed a chess player, however, does not really consider each possibility … so why should we do that in predictive control ??? further prediction, however, is only considered for the candidate sequences staying within the permitted limits Model Based Predictive Current Control … so why should we do that in predictive control ??? … determine those switching possibilities only that are either feasible or point in the proper direction ? these are candidate sequences feasible pointing in the proper direction Model Based Predictive Current Control not