广义预测控制（GPC，含公式推导和仿真截图）-Toy模板网

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一，广义预测控制

1，概念

2，推导公式

1，E,F丢番图方程求解

2，G，H丢番图方程求解

3，跟踪轨迹

4，求控制律u(t)

二，matlab程序仿真结果

1，matlab程序

2，参数设置

3，仿真结果1

4，仿真结果2

一，广义预测控制

1，概念

广义预测控制，简单来说就是利用历史值去预测系统下一时刻的输出值。

2，推导公式

重点在求解丢番图方程E,F,G

预测模型：

广义预测控制（GPC，含公式推导和仿真截图）

1，E,F丢番图方程求解

预测步长：j

广义预测控制（GPC，含公式推导和仿真截图）的矩阵表示如下：

广义预测控制（GPC，含公式推导和仿真截图）

j步预测时的丢番图方程：

广义预测控制（GPC，含公式推导和仿真截图）

j+1步预测时的丢番图方程：

广义预测控制（GPC，含公式推导和仿真截图）

式(1-4)减(1-1)：

广义预测控制（GPC，含公式推导和仿真截图）

上式左边从0到j-1次的所以幂次项均为零，广义预测控制（GPC，含公式推导和仿真截图）和前j项系数相等，可知：

广义预测控制（GPC，含公式推导和仿真截图）

把(1-6)代入式(1-5)中，并展开E,F

广义预测控制（GPC，含公式推导和仿真截图）

令上式左右两边同次幂相等，得递推公式：

广义预测控制（GPC，含公式推导和仿真截图）

递推初值由j=1时的丢番图方程解出。

2，G，H丢番图方程求解:

广义预测控制（GPC，含公式推导和仿真截图）的矩阵形式：

广义预测控制（GPC，含公式推导和仿真截图）

其中：

控制时域长度：广义预测控制（GPC，含公式推导和仿真截图）

最大预测长度：广义预测控制（GPC，含公式推导和仿真截图） ()

广义预测控制（GPC，含公式推导和仿真截图）

同次幂系数相等，得递推公式：

广义预测控制（GPC，含公式推导和仿真截图）

在matlab程序中matrixg_whole矩阵用来缓存计算g和h的数值，随后从matrixg_whole中取出的g_part2即为丢番图方程G矩阵。

3，跟踪轨迹

4，求控制律u(t)

二，matlab程序仿真结果

1，matlab程序：

clear all
clc
close all


%---------------------------------------------------------%
%---GPC算法（水泥 分解炉温度控制）---%



%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                     part 1  参数                        %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%仿真时间或者步长(实控的时候 不需要了)
simulationiter1 =100;
simulationiter2 =200;
simulationiter3 = 300;

% 实际系统
a_real=[ 1 0.5];%A(q-1) of process 0.2
b_real=[  0.5  ];%B(q-1) of process 
k_real=1;%time delay of process
%实际系统包含噪声
for i=1:simulationiter3
    u(1,i)=0;%init U
    noise(1,i)=0*randn()/10;%init random noise
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=2:simulationiter3
    y_real(1,i)=noise(1,i);%init real y
end%init sum of noise
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%模型参数
% a_model=[1 0.5 0.2 ];%A(q-1) of model
% b_model=[1 0.5  ];%B(q-1) of model
% k_model=1;%time delay of model
a_model = a_real;
b_model = b_real;
k_model = k_real;
na=length(a_model)-1;
nb=length(b_model)-1;

%GPC配置参数%(实控的时候 需要)
GPC_p=6;%predict horizon
GPC_m=6;%control horizon
GPC_lambda=10;%control weight
GPC_alfa=0;%soften parameter 柔化因子
GPC_beta=0;%step scale 阶梯因子 可不用


DMC_sp1 = 5; %设定值
DMC_sp2 = 10; %设定值
DMC_sp3 = 15; %设定值
for i=1:simulationiter1
    y_set(1,i)=DMC_sp1;
end%init setpoint of y
for i=(simulationiter1+1):simulationiter2
    y_set(1,i)=DMC_sp2;
end%init setpoint of y
for i=(simulationiter2+1):simulationiter3
    y_set(1,i)=DMC_sp3;
end%init setpoint of y

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% for i=1:350
%         u(1,i)=1;%init U
%         noise(1,i)=normrnd(0,0.0);%init random noise
%         y_real(1,i)=0;%init real y
% end
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% for i=1:350
%     y_set(1,i)=10;
% end%init setpoint of y
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% noise_sum(1,1)=noise(1,1);
% for i=2:300
%     noise_sum(1,i)=noise_sum(1,i-1)+noise(1,i);
% end%init sum of noise
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                    part 2 init polynomials                            %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
matrix_e=zeros(k_model+GPC_p-1,1); % E 丢番图方程   （6,1） 生成零矩阵
matrix_f=zeros(na+1,k_model+GPC_p-1); %F 丢番图方程   （2.6）
matrixg_whole=zeros(k_model+GPC_p-1,nb+k_model+GPC_p-1); % G= E*B 丢番图方程
%（6,6）
%计算F 丢番图方程
matrix_f(1,1)=1-a_model(1,2);
for i=1:1:na-1
    matrix_f(i+1,1)=a_model(1,i+1)-a_model(1,i+2);
end
matrix_f(na+1,1)=a_model(1,na+1);

%计算E 丢番图方程
matrix_e(1,1)=1;
for j=2:1:k_model+GPC_p-1
    matrix_e(j,1)=matrix_f(1,j-1);
    matrix_f(1,j)=matrix_f(2,j-1)-matrix_e(j,1)*(a_model(1,2)-1);
    for i=1:1:na-1
        matrix_f(i+1,j)=matrix_f(i+2,j-1)-matrix_e(j,1)*(a_model(1,i+2)-a_model(1,i+1));
    end
    matrix_f(na+1,j)=matrix_e(j,1)*a_model(1,na+1);
end%init e,f

%计算G= E*B 丢番图方程
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:nb+1
    matrixg_whole(1,i)=b_model(1,i);
end
for j=2:k_model+GPC_p-1
    for i=1:nb+j-1+1
        if i<=j-1
            matrixg_whole(j,i)=matrixg_whole(j-1,i);
        elseif i<=nb+j-1
            matrixg_whole(j,i)=matrixg_whole(j-1,i)+matrix_e(j,1)*b_model(1,i-j+1);
        elseif i==nb+j
            matrixg_whole(j,i)=matrix_e(j,1)*b_model(1,nb+1);
        end
    end
end%inint g


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:GPC_p
    g_single(1,i)=matrixg_whole(k_model+GPC_p-1,i);
end
for j=1:GPC_p
    for i=1:j
        g_part(j,i)=g_single(1,j-i+1);
    end
end   
for j=1:GPC_p
    for i=1:GPC_m
        g_part2(j,i)=g_part(j,i);
    end
end%init g_part for teh use of control of different forms

% 离线计算D矩阵
temp = inv((g_part2)'*(g_part2)+GPC_lambda*eye(GPC_m))*(g_part2)';%inv求逆矩阵 
matrix_d = temp(1,:);  %取temp第一行


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                       part 3  normoal control                         %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for t=3:simulationiter3       
    y_real(1,t)=noise(1,t);
   % for i=1:1 y_real(1,t)=b_real(1,i)*u(1,t-k_real-i+1)-a_real(1,i+1)*y_real(1,t-i)
   % end
    for i=1:nb+1
        y_real(1,t)=y_real(1,t)+b_real(1,i)*u(1,t-k_real-i+1);
    end
    for i=1:na
        y_real(1,t)=y_real(1,t)-a_real(1,i+1)*y_real(1,t-i);
    end%sampleing
    y_show = y_real(1,t)
    
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    for i=0:GPC_p-1
        y1(i+1,1)=0;
        for l=1:na+1
            y1(i+1,1)=y1(i+1,1)+matrix_f(l,i+k_model)*y_real(1,t-l+1);
        end
        for l=i+2:nb+k_model+i
            y1(i+1,1)=y1(i+1,1)+matrixg_whole(k_model+i,l)*(u(1,t+i+1-l)-u(1,t+i-l));
        end
    end%init y1
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%  

    w_start=0;
    if k_model==1
        w_start=y_real(1,t);
    else
        for l=1:na+1
            w_start= w_start+matrix_f(l,k_model-1)*y_real(1,t-l+1);
        end
        for l=1:nb+k_model-1
            w_start= w_start+matrixg_whole(k_model-1,l)*(u(1,t-l)-u(1,t-l-1));
        end%init w_start
    end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
    w(1,1)=GPC_alfa*w_start+(1-GPC_alfa)*y_set(1,t);
    for i=1:GPC_p-1
        w(i+1,1)=GPC_alfa*w(i,1)+(1-GPC_alfa)*y_set(1,t);
    end%init w
    
    
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
    u_delta = matrix_d *(w-y1)
    u(1,t)=u(1,t-1)+u_delta;%get u if you choose normal gpc        
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%



%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                        part 4 plot the result                          %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
subplot(2,1,1),plot(y_set,'r');hold on;plot(y_real,'b');legend('设定值','输出值');hold on;axis([0,simulationiter3-10,-inf,inf])
subplot(2,1,2),plot(u,'g');legend('控制律');hold on;axis([0,simulationiter3-10,-inf,inf])