MPC工具箱MATLAB .pdf

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The MPC Simulink Library A. Bemporad M. Morari N. L. Ricker User’s Guide Version 1

How to Contact A. Bemporad: Automatic Control Laboratory Physikstrasse 3 ETH-Z, ETL I26 8092 Zurich, Switzerland http://control.ethz.ch/~bemporad/ bemporad@aut.ee.ethz.ch The MPC Simulink Library COPYRIGHT 2000 by A. Bemporad, M. Morari, and N. L. Ricker The software described in this document is covered by the MPC Tools license agreement. The software may be used or copied only under the terms of the license agreement. This manual may be photocopied and reproduced, but no part may be included in any other document without prior written consent from the authors. U.S. GOVERNMENT: If Licensee is acquiring the Programs on behalf of any unit or agency of the U.S. Government, the following shall apply: (a) For units of the Department of Defense: the Government shall have only the rights specified in the license under which the commercial computer software or commercial software documentation was obtained, as set forth in subparagraph (a) of the Rights in Commercial Computer Software or Commercial Software Documentation Clause at DFARS 227.7202-3, therefore the rights set forth herein shall apply; and (b) For any other unit or agency: NOTICE: Notwithstanding any other lease or license agreement that may pertain to, or accompany the delivery of, the computer software and accompanying documentation, the rights of the Government regarding its use, reproduction, and disclosure are as set forth in Clause 52.227-19 (c)(2) of the FAR. MATLAB, Simulink, Handle Graphics, and Real-Time Workshop are registered trademarks and Stateflow and Target Language Compiler are trademarks of The MathWorks, Inc. Other product or brand names are trademarks or registered trademarks of their respective holders. MPC Simulink Library

Printing History: Jan 2000 Draft MPC Graphical User Interface -3

MPC Simulink Library

Preface Disclaimer State of Development The MPC Simulink Library is in a developmental (beta) stage. It is not an official MathWorks product. It has been tested extensively, but it is likely that some problems remain. Please review all calculations with a critical eye. We will also be improving features in response to your comments. In Case of Difficulty This beta version of the MPC Simulink Library is not being supported by The MathWorks. If you encounter a problem, please check the FAQ (see "Updates" below). If that doesn’t help, please send a detailed description by e-mail to A. Bemporad at the following address: bemporad@aut.ee.ethz.ch He would also be happy to have your suggestions for improvements in the usability of the MPC Simulink Library, its documentation, and the MPC Toolbox in general. Updates The FAQ and latest beta version of the MPC Simulink Library will be maintained for download at http://control.ethz./~bemporad/toolbox/mpclib.html Acknowledgements We appreciate the help of Federica Rusconi, Domenico Mignone, Carles Pedret Ferre, Adrian Toller, Konrad Stadler, Tobias Raithel, Kazuro Tsuda, Jay Lee, Pascal Gahinet, and Greg Wolodkin. vi

1 Introduction MPC Simulink Library Overview . . . . . . . . . . . . . . . 1-2 Options . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Starting the MPC Simulink Library . . . . . . . . . . . . . . 1-3 System Requirements . . . . . . . . . . . . . . . . . . . . 1-3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Quick Start . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Leisurely Start . . . . . . . . . . . . . . . . . . . . . . . 1-4 MPC Fundamentals . . . . . . . . . . . . . . . . . . . . 1-5

1 Introduction MPC Simulink Library Overview The MPC Simulink Library is designed to help you analyze and simulate Model Predictive Control (MPC) modules within any Simulink description of the environment. Options The MPC Simulink Library supports four controller blocks, to be connected in feedback with the system to regulate. Each block receives output measurements and returns the control input action to the system. The four blocks are the following: • Regulator. The MPC block regulates the output of the system to zero. • Controller. An additional reference signal is received by the MPC controller. The output of the system will track such a signal. • Controller with Measured Disturbance Rejection. An additional information about measured input disturbance signals entering the system is received by the MPC controller and taken into account in the computation of the control action. • Controller with Anticipation. Reference and measured disturbance signals are read from file. This allows knowing future samples when computing the control action. 1-2

Starting the MPC Simulink Library Starting the MPC Simulink Library System Requirements You’ll need the following MATLAB software: • MPC Toolbox for MATLAB Version 5, including the MPC Simulink Library files (which are currently an add-on to the standard MPC Tools release). • MATLAB Version 5.3 or greater. • Simulink Version 3.0 or greater. • Control Toolbox. Installation 1 Make a backup copy of your MPC Tools directory (which should be located in your MATLAB directory, e.g., MATLAB/toolbox/mpc). This will allow you to restore your original state if the GUI installation interferes in some unexpected way. 2 Download the latest version of the MPC Simulink Library from http://control.ethz.ch/~bemporad/toolbox/mpclib.html It’s a ZIP archive. Extract the contents using one of the many available utility programs (e.g., WinZip). This should create a new mpclib directory within the mpc directory. IMPORTANT: The ZIP archive is not a full version of MPC Tools. You must have existing mpc/mpccmds and mpc/mpcdemos directories. The files from the archive only update these directories. 3 Set your MATLAB Path so the new mpc/mpclib directory is included. Verify that the original mpc/mpccmds and mpc/mpcdemos directories are also on the path. 4 Type “mpclib” in the MATLAB Command window. You should see the MPC Simulink Library. 5 If it doesn’t work or you have other problems, see section In Case of Difficulty in the preface to this document. 1-3

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