MPC Bilinear com restrições - MCA 2008

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Artigo abordando o controle de sistemas por meio de MPC não linear com modelo de espaço de estados. O artigo foca na busca pelo atendimento das restrições do sistema e estudo da estabilidade.

Tecnologia Negócios

AUTHORS: MARCIO RIBEIRO DA SILVA GARCIA ADHEMAR DE BARROS FONTES CARLOS EDUARDO TRABUCO DÓREA An Iterative Algorithm For Constrained MPC With Stability Of Bilinear Systems UNIVERSIDADE FEDERAL DA BAHIA DEPARTAMENTO DE ENGENHARIA ELÉTRICA DA ESCOLA POLITÉCNICA

Table Of Contents ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Purposes ,[object Object],[object Object],[object Object]

Predictive Control Features Application Process model-based prediction; Airplane system control; Robustness regarding model –plant mismatch and process noise; Robots control; Easy tunning; Solar powerplant process control; Easy threating of process constraints; Several process of the chemical and petrochemical industry – FCC, Distillation columns, chemical reactors, furnace, etc; Incorporation of the nonlinearities in the system model

Concepts r(k) - Reference signal; u(k) – Control signal; y(k) – System output; NY – Prediction horizon; NU – Control horizon; ,[object Object],Future Past

Model ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Model ,[object Object],[object Object],[object Object]

Prediction ,[object Object],[object Object]

Constraints ,[object Object],[object Object],[object Object],Constraints in predictive controllers are intrinsically related to prediction.

The Iterative Compensation Method ,[object Object],[object Object],[object Object],[object Object]

[object Object],Data  <    or  j > 20?  u optimal  u (j) Yes No j=j+1 Stop Criterion Calculation Of  u (j=0) u(k+i) = u(k-1), i=1,...,H u u j (k+i) = u(k-1)+  u (j -1) (k+n), i=1,...,H u , n=1,...,i Calculation Of  u (j) Iterative compensation Initial Sequence

The Iterative Compensation Method ,[object Object],[object Object],The convergence of the prediction depend on the system model, present state and tunning.

Stability ,[object Object],[object Object],[object Object],The theory of stability, terminal constraints and invariant sets is well defined for linear systems. For bilinear systems, some assumptions may be done:

Stability ,[object Object],[object Object],[object Object],[object Object],Stability in bilinear systems can be guaranteed if the following conditions are fully satisfied:

Example ,[object Object],Constraints: Initial state = [3 2.8] T H p =10,  =25 : -- blue line: Quasilinear controller - Black line: Iterative Compensation State Trajectory -4< x 1 (k) <4 -4< x 2 (k) <4 - red line: Invariant set for -1< u(k) <1 -.- line: Invariant set for -0.5< u(k) <0.5

Examples ,[object Object],Convergence -- Initial prediction -- Before convergence - After convergence Cost Improvement

General Conclusion and Future Works ,[object Object],[object Object],[object Object],[object Object]

References ,[object Object],[object Object]

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MPC Bilinear com restrições - MCA 2008

1. AUTHORS: MARCIO RIBEIRO DA SILVA GARCIA ADHEMAR DE BARROS FONTES CARLOS EDUARDO TRABUCO DÓREA An Iterative Algorithm For Constrained MPC With Stability Of Bilinear Systems UNIVERSIDADE FEDERAL DA BAHIA DEPARTAMENTO DE ENGENHARIA ELÉTRICA DA ESCOLA POLITÉCNICA

4. Predictive Control Features Application Process model-based prediction; Airplane system control; Robustness regarding model –plant mismatch and process noise; Robots control; Easy tunning; Solar powerplant process control; Easy threating of process constraints; Several process of the chemical and petrochemical industry – FCC, Distillation columns, chemical reactors, furnace, etc; Incorporation of the nonlinearities in the system model

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Notas do Editor

Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia
Controle Preditivo por Realimentação de Estado de Sistemas Bilineares sob Restrições Aplicado a um Módulo Termo-elétrico – Marcio r. da s. garcia

MPC Bilinear com restrições - MCA 2008

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MPC Bilinear com restrições - MCA 2008

Notas do Editor