模型预测控制

一本学习模型预测控制入门很好的一本书，它涵盖的模型，算法比较多。除了常用的状态空间模型之外，应用传递函数（Z-域）来描述预测结果；并且，这本书回顾了一些MPC算法，如 Dynamic Matrix Control，Model Algorithmic Control，Predictive Function Control， Generilized Predictive Control等。通过简要的回顾应该能够帮助读者对MPC有一种整体性的把握Model-Based Predictive controlof electric drivesArne linderRahul KanchanRalph KennelPeter stolzeContentsPreface1 Introduction2 Field-oriented control3 Cascade control with pl controllers133.1 Current control3.2 Speed contro153.3 Flux control163.4 Experimental results164 Predictive control174.1 Classification based on operational principle194.2 Classification based on prediction horizon and control principle 235 Model-based predictive control275.1 Functional principle5.2 Models305.2. 1 State space model315.2.2 Linear transfer function-based models325.2.3 Nonlinear models356 Generalized Predictive Control396.1“ Classical GPC396.1.1 Mathematical derivatio396.1.2 Experimental results486.2 GPC with filter486.2.1 Mathematical derivation506.2.2 Simulations556.3 Cascade control with gPC controllers566.3.1 Current control8111Contents6.3.2 Speed6.3.3 Experimental results606.3.4 Computation times667 Discrete-time machine model for current contro697.1D7.1.1 MATLAB717.1.2 Difference quotient7. 1.3 Laplace transformatio727.1. 4 Power series747. 2 Experimental results767. 3 Modified machine model for GPC778 Multivariable GPC control838.1"Classical" MIMo-gPc838.1.1 Determination of the transfer function838.1.2 Calculation of the system matrices858.1.3 Mathematical derivation8.1.4 Consideration of the control horizon8.2 Consideration of disturbance inputs with GPC63568.2.1 Determination of the transfer function8.2.2 Calculation of the system matrices968.2.3 Mathematical derivatio978.2.4 Consideration of the control horizon1038.3 MIMO-GPC with filter8.3.1 Determination of the transfer function1058.3.2 Calculation of the system matrices.1058.3.3 Mathematical derivati1058.3.4 Consideration of the control horizon1148.4 Experimental results1158.4.1 Current control1158.4.2 Computation times1168.5 Comparative summary1189 Direct model-based predictive control1219.1 Published techniques1249.2 Inverter operation with DMPC1259.2.1 Consideration of the bootstrap circuit1279.3 Model formulation128Contents9.3.1 Simple machine model1319.4 Implicit solution1329.4.1 Solving algorithms1349.4.2 Mathematical derivation1389.4.3 Experimental results1389.4.4 Computation times1419.5 Explicit solution1439.5.1 Standard algorithm1529.5.2 Minimum-Time Controller1529.5.3 Binary search tree1549.5.4 Optimal complexity reduction1589.5.5 Experimental results1620 Related control structures17110.1 Internal Model Control17110.2 Linear Quadratic Control17310.2.1 Functional principle of LQR17410.2.2 GPC and LQr17611 Summary and future prospects179Bibliograph183a Glossary polynomial matrices195b Nomenclature203c Normalization values215d Physical machine constants217E Polynomials and matrices for gPc219E1 SISO system219E2 MIMO systemE 2.1 Definitions221E 2.2 Dimensions230F Methods for matrix inversion231F 1 Gauss algorithm231F 2 Gauss-Jordan algorithm231ContentsF3 Exchange algorithm232F 4 LR decomposition232F5 Algorithm of Cholesk232F6 Computation times232G Alternative method for matrix decomposition235Index237List of figures1.1Typical structure of a cascade controlle2.1 Three-phase system and alternative two-phase system2.2 Complex machine model2. 3 Scalar machine model(field coordinates)102. 4 Rotor model113.1 Field-oriented drive control with Pi controllers143.2 Simplified model for current control(field coordinates)143.3 Current control loop with PI controller153.4 Speed control loop with Pi controller4.1 Typical structure of a predictive controller184.2 Hysteresis-based predictive controller acc to Holtz/ Stadtfeld 55 204. 3 Trajectory-based predictive controller acc. to Mutschler [90]214.4 Family tree of predictive control schemes245.1 Typical structure of an MPC controller295.2 Definition of the control and prediction horizon305.3 Structure of a hammerstein model5.4 Structure of a wiener model376.1 Discrete-time transfer function6.2 Structure of a gPC controller without filter406.3 Structure of a gPC controller with filter506.4 Simulation: Reference action without noise disturbances566.5 Simulation: Reference action with noise disturbances576.6 Field-oriented drive control with GPC controllers586.7 Current control loop with GPC controller6.8 Speed control loop with GPC controller596.9 Current control: Large-signal behavior616.10 Current control: Small-signal behavior62List of figures6.11 Current control: Large-signal behavior at w=0.46. 12 Speed control: Small-signal behavior656. 13 Speed control: Small-signal behavior, zoomed time scale ... 677.1 Prediction with a step change in the reference variable isg767.2 Prediction with a step change in the reference variable isd .. 788.1 Multidimensional current control1179.1 Two-level inverter circuit with DC link1229.2 Principle of a machine control1239.3 Possible switching states of a two-level inverter1269.4 Scalar machine model (stator coordinates)1299.5 Simplified model for current control (stator coordinates1319.6 Simplified model for current control(bridge switching states1319.7 Current control with DMPC controller, stationary operation.. 1409.8 Current control with DMPC controller, dynamic operation... 1419.9 Explicit solution for three half bridges1479.10 Trajectories of the explicit solution1479.11 Functional principle of the search tree1579 12 Current control with explicit DMPC and PI controller16810.1 IMC structure17210.2 IMC structure transformed to the classical controller structure 17310.3 Structure of LQ control (w=0, see text).176