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Implementation of predictive controllers as outer-loop controllers

IET CONTROL THEORY AND APPLICATIONS 2009年第3期3卷 261-269页

作者： Tadeo, F. Alvarez, T. Univ Valladolid Dept Ingn Sistemas & Automat E-47011 Valladolid Spain

The implementation of predictive controllers as supervisory control systems is discussed. In this configuration, common in practice, the manipulated variables calculated by the predictive controller do not directly drive the actuators;instead, it is the command signals from the local PID controllers that drive the actuators that act on the physical system. This structure is known to perform less efficiently when the local controllers are re-tuned, because the model used in the predictive controller differs from the real one. Thus, performance decreases and might even lead to oscillations and instabilities of the overall control system. This paper presents a solution to this problem based on the use of an adequate two-degrees-of-freedom structure as an interface between the predictive controller and the local controllers, which makes the predictive controller robust against variations in the local controller. The application of this technique on a simulated industrial boiler achieves the following advantage: the performance of the predictive control system is maintained despite re-tuning of the inner-loop controller.

关键词： predictive control systems industrial boiler predictive controllers control systems local controller actuators

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A comparative study of neural and conventional adaptive predictive controllers for vibration suppression

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SMART MATERIALS AND STRUCTURES 2004年第4期13卷 811-818页

作者： Jha, R He, CL Clarkson Univ Dept Mech & Aeronaut Engn Potsdam NY 13699 USA

Two adaptive predictive control systems are developed for vibration suppression of nonlinear and time varying smart structures. The neural adaptive predictive controller employs a nonlinear neural network autoregressive external input plant model. The adaptive generalized predictive controller is based on a linear autoregressive external input plant model. Efficient algorithms are used for online plant identification and performance index minimization to achieve real time control of plants with relatively fast response time. Controller performances are validated using an experimental setup comprising a cantilevered plate with surface bonded piezoelectric actuators. The plant response is nonlinear due to the relatively large magnitude of the input sine wave disturbance (combining the first and second natural frequencies). Adaptiveness of the controllers is tested through changes in the plant dynamics and external disturbance during experiments. Experimental results demonstrate very good performance and robustness of the developed controllers. The neural adaptive predictive controller shows superior performance over the adaptive generalized predictive controller.

关键词： ALGORITHM IDENTIFICATION external disturbance vibration suppression plant models cantilever plates controllers algorithms predictive controllers Self tuning external input plant response nonlinearity Real time control

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Model predictive controllers for Magnetic Levitation Systems 10

Model Predictive Controllers for Magnetic Levitation Systems

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10th Jubilee IEEE International Symposium on Applied Computational Intelligence and Informatics

作者： Sgaverdea, Simona Bojan-Dragos, Claudia-Adina Precup, Radu-Emil Preitl, Stefan Stinean, Alexandra-Iulia Politehn Univ Timisoara Dept Automat & Appl Informat Timisoara Romania

ISBN: (纸本)9781479999118

The paper presents the design and the implementation of two model predictive controllers (MPCs) for magnetic levitation systems. The presentation is focused on the position control of a sphere in a magnetic levitation system with two electromagnets laboratory equipment in order to test the proposed controllers. A state feedback control structure is first designed to stabilize the system. In order to ensure the zero steady-state control errors, the second controller is based on an MPC in the outer control loop. The autoregressive exogenous model corresponding to closed-loop state feedback control system is computed in order to develop the MPC. The simulation results are included to illustrate the performance of the position control systems.

关键词： Magnetic levitation systems Position control state feedback control predictive controllers locating and control system Maximum Allowable Concentration Spheres

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Tuning methodology for industrial predictive controllers applied to natural gas processing unit

Tuning methodology for industrial predictive controllers app...

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IEEE Conference on Control Applications (CCA)

作者： Godoy, J. L. Gonzalez, A. H. Ferramosca, A. Bustos, G. Normey-Rico, J. E. Inst Technol Dev Chem Ind INTEC Santa Fe Argentina

ISBN: (纸本)9781509007554

This work presents a new methodology for tuning industrial predictive controllers, with the aim to fit the parameters of the (associated) stationary optimization problem - which decides the optimal economic operation. A step by step procedure to find the right tuning values are provided, and a case study taken from a real natural gas processing unit is presented to illustrate the advantages of the proposed approach.

关键词： step-by-step predictive controllers PROCESSOR tuning gas natural Natural Gas Case studies Industrial

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Certification of a Class of Industrial predictive controllers without Terminal Conditions

Certification of a Class of Industrial Predictive Controller...

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IEEE Annual Conference on Decision and Control

作者： Abhishek Dutta Edward Hartley Jan Maciejowski Robin De Keyser Wolfson College Cambridge Barton Road Cambridge CB3 9BB UK Control Group Cambridge University Engineering Department Trumpington Street Cambridge CB2 1PZ UK Electrical Energy Systems and Automation Ghent University Sint-Pietersnieuwstraat 41 Block B2 9000 Gent Belgium

ISBN: (纸本)9781467360890

Three decades have passed encompassing a flurry of research and commercial activities in model predictive control (MPC). However, the massive strides made by the academic community in guaranteeing stability through a state-space framework have not always been directly applicable in an industrial setting. This paper is concerned with a priori and/or a posteriori certification of persistent feasibility, boundedness of industrial MPC controllers (i) based on input-output formulation (ii) using shorter control than prediction horizon (iii) and without terminal conditions.

关键词： certification predictive controllers Industrial Terminal condition COMMERCIAL ACTIVITIES

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Synthesis of Stabilizing Model predictive controllers via Canonical Piecewise Affine Approximations

Synthesis of Stabilizing Model Predictive Controllers via Ca...

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2010 49th IEEE Conference on Decision and Control

作者： Alberto Bemporad Alberto Oliveri Tomaso Poggi Marco Storace Department of Mechanical and Structural Engineering University of Trento Italy Department of Biophysical and Electronic Engineering University of Genoa Italy

ISBN: (纸本)9781424477456

This paper proposes the use of canonical piecewise affine (PWA) functions for the approximation of linear MPC controllers over a regular simplicial partition of a given set of states of interest. Analysis tools based on the construction of PWA Lyapunov functions are provided for certifying the asymptotic stability of the resulting closed-loop system. The main advantage of the proposed controller synthesis approach is that the resulting stabilizing approximate MPC controller can be implemented on chip with sampling times in the order of tens of nanoseconds.

关键词： synthesis predictive controllers Affine In-law Piecewise Canonical controllers Stabilising approximation NANOSECOND sampling time

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Auto-Code Generation for Fast Embedded Model predictive controllers

Auto-Code Generation for Fast Embedded Model Predictive Cont...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Jonathan Currie Arrian Prince-Pike David I. Wilson Electrical and Electronic Engineering AUT University Auckland New Zealand Industrial Information and Control Centre AUT University Auckland New Zealand

ISBN: (纸本)9781467316439

The implementation of Model predictive controllers (MPC) on low-cast hardware such as micro-controllers has been traditionally hampered by the high computing and associated memory demands of the algorithm. This paper describes a completely automatic way to implement an MPC controller on embedded hardware starting from a dynamic model in MATLAB. The resultant controller runs stand-alone on the embedded hardware, is extremely fast, exhibits a modest memory footprint and best of all, requires no particular embedded programming experience from the user.

关键词： embedded hardware predictive controllers stand-alone data recorder Microcontrollers Embedded software design Computer hardware Fasting

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Contention Resolving Optimal Priority Assignment for Event-Triggered Model predictive controllers

Contention Resolving Optimal Priority Assignment for Event-T...

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American Control Conference

作者： Ningshi Yao Michael Malisoff Fumin Zhang the School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30308 USA the Department of Mathematics Louisiana State University Baton Rouge LA 70803 USA

ISBN: (纸本)9781509045839

Priority-based scheduling strategies are often used to resolve contentions in resource constrained networked control systems (NCSs). Such scheduling strategies inevitably introduce time delays into controls. Considering the coupling between priority assignment and control, this paper proposes a novel method to co-design priority assignments and controls for each control loop in NCSs. The co-design aims to minimize the performance degradation caused by time delays. The priority assignment is determined by a path planning approach to search for optimal priority assignments. Model predictive controllers are designed based on optimizing priority assignments to compute optimal controls. Simulations are presented to show the effectiveness of the proposed method.

关键词： presented show effectiveness precedence predictive controllers control ring Path planning degradation of performance Event trigger Co-design time delay

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Novel Event-Triggered Strategies for Model predictive controllers

Novel Event-Triggered Strategies for Model Predictive Contro...

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IEEE Conference on Decision and Control

作者： Alina Eqtami Dimos V. Dimarogonas Kostas J. Kyriakopoulos Control Systems Lab Department of Mechanical Engineering National Technical University of Athens 9 Heroon Polytechniou Street Zografou 15780 Greece KTH ACCESS Linnaeus Center School of Electrical Engineering Royal Institute of Technology (KTH) Stockholm Sweden

ISBN: (纸本)9781612848006

This paper proposes novel event-triggered strategies for the control of uncertain nonlinear systems with additive disturbances under robust Nonlinear Model predictive controllers (NMPC). The main idea behind the event-driven framework is to trigger the solution of the optimal control problem of the NMPC, only when it is needed. The updates of the control law depend on the error of the actual and the predicted trajectory of the system. Sufficient conditions for triggering are provided for both, continuous and discrete-time nonlinear systems. The closed-loop system evolves to a compact set where it is ultimately bounded, under the proposed framework. The results are illustrated through a simulated example.

关键词： predictive controllers Event trigger control law Uncertain nonlinear system Optimal control Frameworks

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Offset-Free Reference Tracking for predictive controllers

Offset-Free Reference Tracking for Predictive Controllers

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 4135-4592

作者： Urban Maeder Manfred Morari Automatic Control Laboratory ETH Zurich Zurich Switzerland

ISBN: (纸本)9781424414970;1424414970

We discuss the offset-free reference tracking problem for linear constrained systems in the presence of disturbances and plant-model mismatch. Introducing disturbance models, we show how to construct a controller/observer combination, such that zero offset is achieved. Contrary to other approaches, the plant model is augmented only by as many disturbance states as there are tracked variables, thus yielding the controller with minimal complexity according to the internal model principle.

关键词： plant models predictive controllers zero offset Internal model principle Disturbance model controllers tracking problem

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