제어기 생성
모델 예측 제어기 생성
MPC 디자이너 앱이나 명령줄에서 선형 플랜트 모델을 사용하여 MPC 제어기를 생성할 수 있습니다. 제어기를 설계하려면 먼저 제어기 샘플 시간과 지평을 선택하고 필요한 제약 조건을 지정하십시오. 자세한 내용은 Choose Sample Time and Horizons 및 Specify Constraints 항목을 참조하십시오. 그런 다음 제어기 가중치를 조정하여 원하는 성능을 달성할 수 있습니다. 자세한 내용은 Tune Weights 항목을 참조하십시오.
함수
mpc | Model predictive controller |
mpcprops | Provide help on MPC controller properties |
setmpcsignals | Set signal types in LTI plant model |
getindist | Retrieve unmeasured input disturbance model |
setindist | Modify unmeasured input disturbance model |
getoutdist | Retrieve unmeasured output disturbance model |
getoutdist | Retrieve unmeasured output disturbance model |
getEstimator | Obtain Kalman gains and model for estimator design |
setEstimator | Modify a model predictive controller’s state estimator |
gpc2mpc | Generate MPC controller using generalized predictive controller (GPC) settings |
mpcverbosity | Change toolbox verbosity level |
앱
| MPC 디자이너 | 모델 예측 제어기 설계 및 시뮬레이션 |
도움말 항목
MPC 파라미터
- Choose Sample Time and Horizons
Choose your MPC controller sample time, prediction horizon, and control horizon early in your design, and hold them constant as you tune other controller parameters. - Specify Constraints
You can specify upper and lower bounds for the values of plant outputs and manipulated variables, and also for the rate of change of manipulated variables.
- Finite Control Set MPC
Solve linear MPC problems in which some or all manipulated variables belong to discrete sets.
- Specify Scale Factors
When designing an MPC controller, it is good practice to define scale factors for each plant input and output, especially when variables have large differences in magnitude.
- Tune Weights
To tune your MPC controller performance, adjust the cost function penalty weights for plant outputs and manipulated variables, and also for the rate of change of manipulated variables. - Design Model Predictive Controller at Equilibrium Operating Point
To design an MPC controller at an equilibrium point with nonzero operating conditions, you can specify the corresponding nominal conditions in the controller object.
설계 환경
- Design Controller Using MPC Designer
Design a model predictive controller for a continuous stirred-tank reactor (CSTR) using MPC Designer. - 명령줄에서 MPC 제어기 설계하기
MATLAB® 명령줄에서 모델 예측 제어기를 설계하고 시뮬레이션합니다. - Design MPC Controller in Simulink
Design and simulate a model predictive controller for a Simulink® model using MPC Designer.
특화된 플랜트에 대한 설계
- Design MPC Controller for Plant with Delays
Design a model predictive controller for a plant with delays using MPC Designer. - Design MPC Controller for Nonsquare Plants
Configure an MPC controller for a nonsquare plant with unequal numbers of manipulated variables and outputs. - Design MPC Controller for Identified Plant Model
Design a model predictive controller using a linear System Identification Toolbox™ plant model.
코드 생성
- Generate MATLAB Code from MPC Designer
To programmatically reproduce controller designs that you obtained interactively using MPC Designer, you can automatically generate MATLAB scripts.
사례 연구
- Design MPC Controller for Position Servomechanism
Design a model predictive controller for a position servomechanism using MPC Designer. - Design MPC Controller for Paper Machine Process
Design a model predictive controller for a nonlinear paper machine process using MPC Designer. - MPC Control of an Inverted Pendulum on a Cart
Control an inverted pendulum in an unstable equilibrium position using a model predictive controller. - Thermo-Mechanical Pulping Process with Multiple Control Objectives
Design a model predictive controller for a MIMO system with multiple control objectives. - MPC Control of Aircraft with Unstable Poles
Design a model predictive controller to control an aircraft with saturating actuators.
