MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Especificaciones Pagina 74
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3 Designing Controllers Using the Design Tool GUI
3-24
• Plant model specifies the LTI model to be used for controller predictions.
• Control interval sets the elapsed time between successive adjustments of the
controller's manipulated variables.
• Prediction horizon is the number of control intervals over which the outputs are to
be optimized.
• Control horizon sets the number of control intervals over which the manipulated
variables are to be optimized.
• Selecting the Blocking option gives you more control over the way in which the
controller's moves are allocated.
Leave all of the Model and Horizons tab settings at their default values for now.
Controller Options — Model and Horizons Tab
Weight Tuning
Click the Weight Tuning tab. The view shown in Controller Options — Weight Tuning
Tab appears.
Make the following changes:
• In the Input weights section, change the coolant temperature's Rate Weight from
the default 0.1 to 0.3.
- Getting Started Guide 1
- How to Contact MathWorks 2
- Revision History 3
- Contents 5
- Introduction 9
- 1 Introduction 10
- Acknowledgments 11
- Bibliography 12
- Building Models 13
- MPC Modeling 14
- MPC Modeling 15
- Input Disturbance Model 16
- Output Disturbance Model 17
- Measurement Noise Model 18
- Signal Types 20
- Transfer Function Models 21
- Zero/Pole/Gain Models 22
- State-Space Models 22
- Ax Bu= + 23
- 2 Building Models 24
- LTI Model Characteristics 27
- CSTR Model 31
- Linearize Simulink Models 33
- Linearize Simulink Models 37
- Identify Plant from Data 43
- Design Tool GUI 51
- Start the Design Tool 52
- Load a Plant Model 53
- Navigate Using the Tree View 56
- Customize Response Plots 67
- Adding a Data Marker 68
- Data Marker Contents 69
- Relocating a Data Marker 69
- Deleting Data Markers 69
- Right-Click Options 70
- Viewing Selected Scenarios 70
- Revising a Scenario 71
- Change Controller Settings 73
- S k w r k i y k i 76
- ( ) [ ( ) ( )]= + - + 76
- D + -u k i 77
- Input Weights 78
- S k w u k i u 79
- ( ) [ ( ) ]= + - 79
- Save Your Work 94
- Load Your Saved Work 96
- Test Controller Robustness 98
- Test Controller Robustness 99
- Click Simulate 106
- Related Examples 107
- Command Line 111
- Create a Controller Object 112
- Review Controller Design 115
- Perform Linear Simulations 116
- Save Calculated Results 118
- Nonlinear CSTR Application 119
- CSTR Results and Discussion 122
- A Two-Model Plant 125
- Designing the Two Controllers 127
- Compute Steady-State Gain 134
- Extract Controller 135
- Signal Previewing 137
- Run-Time Constraint Updating 138
- Run-Time Weight Tuning 139
- More About 140
- Simulink 141
- Design Controller in Simulink 142
- See Also 154
- Test an Existing Controller 155
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