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1、第七章模型预测控制算法之一~5杨根科上海交通大学自动化系2005年9月内容提要概述动态矩阵控制动态矩阵控制的进一步讨论模型算法控制应用思想Z域设计（直接设计）时域设计现代控制理论（基于状态空间）：如最优控制、极点配置等应用航空航天（理想环境）工业过程控制（基于模型预测）：预测控制！石油、化工、发电等先进控制算法工业过程特点数学模型的非精确性不确定性、随机性、参数时变性material,energybalancesflowdynamicsphysicalproperties(oftenunknown)thermodynamics多变量系统控制算法的可实施性历史，。。。脉冲响应与阶跃响应；滚动模型
2、预测控制,动态复杂性Figure:Twoprocessesexhibitingunusualdynamicbehavior.(a)changeinbaselevelduetoastepchangeinfeedratetoadistillationcolumn(分裂蒸馏塔).(b)steamtemperaturechangeduetoswitchingonsootblower(吹灰器)inaboiler.模型预测控制,方法ModelPredictiveControl(MPC)–regulatorycontrolsthatuseanexplicitdynamicmodeloftheresponse
3、ofprocessvariablestochangesinmanipulatedvariablestocalculatecontrol“moves”.Controlmovesareintendedtoforcetheprocessvariablestofollowapre-specifiedtrajectoryfromthecurrentoperatingpointtothetarget.Basecontrolactiononcurrentmeasurementsandfuture模型预测控制,优点Optimalcontrollerisbasedonminimizingerrorfromset
4、pointBasicversionuseslinearmodel,buttherearemanypossiblemodelsCorrectionsforunmeasureddisturbances,modelerrorsareincludedSinglestepandmulti-stepversions•Treatsmultivariablecontrol,feedforwardcontrol模型预测控制,优点/特点ProcessesaredifficulttocontrolwithstandardPIDalgorithm–longtimeconstants,substantialtimede
5、lays,inverseresponse,etc.Thereissubstantialdynamicinteractionamongcontrols,i.e.,morethanonemanipulatedvariablehasasignificanteffectonanimportantprocessvariable.Constraints(limits)onprocessvariablesandmanipulatedvariablesareimportantfornormalcontrol.模型预测控制Techniquesdevelopedbyindustry:1.DynamicMatrix
6、Control(DMC)-ShellDevelopmentCo.,CutlerandRamaker(1980),-CutlerlaterformedDMC,Inc.-DMCacquiredbyAspentechin1997.2.ModelAlgorithmicControl(MAC)•ADERSA/GERBIOS,Richaletetal(1978)•Over4000applicationsofMPCsince1980(QinandBadgwell,1998and2003).模型预测控制,优点/特点Time-delaycompensationtechniquespredictprocessou
7、tputonetimedelayahead.Hereweareconcernedwithpredictivecontroltechniquesthatpredicttheprocessoutputoveralongertimehorizon.(e.g.,open-loopresponsetime).模型预测控制,ideaBasicconceptforModelPredictiveControl模型
