Model Predictive Control

Transcription

1 E.F Camacho and C. Bordons Model Predictive Control Second Edition With 139 Figures Springer

2 Contents 1 Introduction to Model Predictive Control MPC Strategy Historical Perspective Industrial Technology : Outline of the Chapters 10 2 Model Predictive Controllers MPC Elements Prediction Model Objective Function Obtaining the Control Law Review of Some MPC Algorithms State Space Formulation 27 3 Commercial Model Predictive Control Schemes Dynamic Matrix Control ^ Prediction Measurable Disturbances Control Algorithm Model Algorithmic Control Process Model and Prediction Control Law Predictive Functional Control Formulation Case Study: A Water Heater Exercises 45 4 Generalized Predictive Control Introduction Formulation of Generalized Predictive Control The Coloured Noise Case 53

3 xviii Contents 4.4 An Example Closed-Loop Relationships The Role of the T Polynomial Selection of the T Polynomial Relationships with Other Formulations The P Polynomial Consideration of Measurable Disturbances Use of a Different Predictor in GPC Equivalent Structure A Comparative Example Constrained Receding Horizon Predictive Control Computation of the Control Law Properties Stable GPC, Formulation of the Control Law 77 All Exercises 78 5 Simple Implementation of GPC for Industrial Processes Plant Model Plant Identification: The Reaction Curve Method The Dead Time Multiple of the Sampling Time Case Discrete Plant Model Problem Formulation Computation of the Controller Parameters Role of the Control-weighting Factor Implementation Algorithm An Implementation Example. { The Dead Time Nonmultiple of the Sampling Time Case Discrete Model of the Plant Controller Parameters Example Integrating Processes Derivation of the Control Law Controller Parameters Example Consideration of Ramp Setpoints Example Comparison with Standard GPC Stability Robustness Analysis Ill Structured Uncertainties Unstructured Uncertainties General Comments Composition Control in an Evaporator Description of the Process Obtaining the Linear Model 119

4 Contents xix Controller Design Results Exercises Multivariable Model Predictive Control Derivation of Multivariable GPC White Noise Case Coloured Noise Case Measurable Disturbances Obtaining a Matrix Fraction Description Transfer Matrix Representation Parametric Identification State Space Formulation Matrix Fraction and State Space Equivalences Case Study: Flight Control Convolution Models Formulation Case Study: Chemical Reactor Plant Description Obtaining the Plant Model Control Law Simulation Results Dead Time Problems Case Study: Distillation Column Multivariable MPC and Transmission Zeros Simulation Example Tuning MPC for Processes with OUD Zeros Exercises. ; Constrained Model Predictive Control Constraints and MPC Constraint General Form Illustrative Examples Constraints and Optimization Revision of Main Quadratic Programming Algorithms The Active Set Methods Feasible Direction Methods Initial Feasible Point Pivoting Methods Constraints Handling Slew Rate Constraints Amplitude Constraints Output Constraints Constraint Reduction norm Case Study: A Compressor 203

5 xx Contents 7.7 Constraint Management Feasibility Techniques for Improving Feasibility Constrained MPC and Stability Multiobjective MPC Priorization of Objectives Exercises Robust Model Predictive Control Process Models and Uncertainties Truncated Impulse Response Uncertainties Matrix Fraction Description Uncertainties Global Uncertainties Objective Functions Quadratic Cost Function oo-oo norm norm Robustness by Imposing Constraints Constraint Handling Illustrative Examples Bounds on the Output Uncertainties in the Gain Robust MPC and Linear Matrix Inequalities Closed-Loop Predictions An Illustrative Example Increasing the Number of Decision Variables Dynamic Programming Approach Linear Feedback An Illustrative Example Exercises Nonlinear Model Predictive Control Nonlinear MPC Versus Linear MPC Nonlinear Models Empirical Models Fundamental Models Grey-box Models Modelling Example Solution of the NMPC Problem Problem Formulation Solution Techniques for Nonlinear Predictive Control Extended Linear MPC LocalModels Suboptimal NPMC 271

6 Contents Use of Short Horizons Decomposition of the Control Sequence Feedback Linearization MPC Based on Volterra Models Neural Networks Commercial Products Stability and Nonlinear MPC Case Study: ph Neutralization Process Process Model Results Exercises Model Predictive Control and Hybrid Systems Hybrid System Modelling Example: A Jacket Cooled Batch Reactor Mixed Logical Dynamical Systems Example Model Predictive Control of MLD Systems Branch and Bound Mixed Integer Programming An Illustrative Example Piecewise Affine Systems Example: Tank with Different Area Sections Reach Set, Controllable Set, and STG Algorithm Exercises Fast Methods for Implementing Model Predictive Control Piecewise Affinity of MPC MPC and Multiparametric Programming Piecewise Implementation of MPC Illustrative Example: The Double Integrator Nonconstant References and Measurable Disturbances Example The 1-norm and oo-norm Cases Fast Implementation of MPC for Uncertain Systems Example The Closed-Loop Min-max MPC Approximated Implementation for MPC Fast Implementation of MPC and Dead Time Considerations Exercises Applications Solar Power Plant Selftuning GPC Control Strategy Gain Scheduling Generalized Predictive Control 342 xxi

7 xxii Contents 12.2 Pilot Plant Plant Description Plant Control Flow Control Temperature Control at the Exchanger Output Temperature Control in the Tank Level Control Remarks Model Predictive Control in a Sugar Refinery Olive Oil Mill Plant Description Process Modelling and Validation Controller Synthesis Experimental Results Mobile Robot Problem Definition Prediction Model Parametrization of the Desired Path Potential Function for Considering Fixed Obstacles The Neural Network Approach Training Phase Results 379 A Revision of the Simplex Method 381 A.I Equality Constraints 381 A.2 Finding an Initial Solution 382 A.3 Inequality Constraints 383 B Dynamic Programming and Linear Quadratic Optimal Control B.I Linear Quadratic Problem 385 B.2 Infinite Horizon 387 References 389 Index 401