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📁 用MATLAB进行预测控制的仿真 大家可以参考一下
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&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;if&nbsp;&nbsp;k&lt;=201<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; a=0.8854;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;elseif&nbsp;&nbsp;k&lt;=301<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; a=0.6725;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;elseif&nbsp;&nbsp;k&lt;=401<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; a=0.5968;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;elseif&nbsp;&nbsp;k&lt;=501<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; a=0.7762;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;else<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; a=0.8854;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;end<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;case 2<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;a=0.8854;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;if&nbsp; &nbsp;&nbsp;&nbsp;k&lt;=201<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; tao=6;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;elseif&nbsp;&nbsp;k&lt;=301<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; tao=4;&nbsp; &nbsp;&nbsp;&nbsp;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;elseif&nbsp;&nbsp;k&lt;=401<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; tao=8;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;elseif&nbsp;&nbsp;k&lt;=501<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; tao=6;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;else<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; tao=6;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;end<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; y_temp(1)=(a+0.264)*y_temp(2)-0.264*a*y_temp(3)+0.864*u(k-tao)-0.2731*u(k-tao-1);<br />&nbsp; &nbsp; y(k)=y_temp(1)+noise(k-9);<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; y_temp(3)=y_temp(2);<br />&nbsp; &nbsp; y_temp(2)=y_temp(1);<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %identification<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %fai<br />&nbsp; &nbsp; for i=1:na<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;fai(i)=-(y(k-i)-y(k-i-1));<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; for i=1:nb+1<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;fai(na+i)=u(k-tao+1-i)-u(k-tao+1-i-1);<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; kai=P*fai/(fai'*P*fai+mu);<br />&nbsp; &nbsp; P=(mu^(-1))*(eye(na+nb+1)-kai*fai')*P;<br />&nbsp; &nbsp; po_thita=po_thita+kai*(y(k)-y(k-1)-fai'*po_thita);<br />&nbsp; &nbsp; thita=[1,po_thita'];<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %diophantine&nbsp; &nbsp; <br />&nbsp; &nbsp; f=zeros(na+1,1);<br />&nbsp; &nbsp; f(1)=1;<br />&nbsp; &nbsp; f_f=zeros(N,na+1);<br />&nbsp; &nbsp; E=cell(1,N);<br />&nbsp; &nbsp; E{1}=1;<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; g=cell(1,N);<br />&nbsp; &nbsp; g_g=zeros(N,Nu);<br />&nbsp; &nbsp; f_t=zeros(N,1);<br />&nbsp; &nbsp; g_t=zeros(N,1);<br />&nbsp; &nbsp; w=zeros(N,1);<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; for ite1=1:N<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;f_e=f(1);<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;for ite2=1:na<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;f(ite2)=f(ite2+1)-(thita(ite2+1)-thita(ite2))*f_e;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;f(na+1)=thita(na+1)*f_e;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;f_f(ite1,<img src="images/smilies/default/smile.gif" smilieid="1" border="0" alt="" />=f';<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;if ite1&lt;N<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;E{ite1+1}=[E{ite1},f(1)];<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %compute g<br />&nbsp; &nbsp; for ite1=1:N<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;g{ite1}=zeros(1,nb+ite1);<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;for ite2=1:nb+ite1<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;for ite3=1:ite1<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; temp=ite2+1-ite3;<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; if (temp&lt;=nb+1)&amp;(temp&gt;=1)<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;g{ite1}(ite2)=g{ite1}(ite2)+thita(na+1+temp)*E{ite1}(ite3);<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp; end<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;end<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %compute g_g<br />&nbsp; &nbsp; for ite1=1:N<br />&nbsp; &nbsp;&nbsp; &nbsp; if ite1&lt;=Nu<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;for ite2=1:ite1<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;g_g(ite1,1+ite1-ite2)=g{ite1}(ite2);<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp;&nbsp; &nbsp; else<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;for ite2=1:Nu<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;g_g(ite1,Nu+1-ite2)=g{ite1}(ite1-Nu+ite2);<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp;&nbsp; &nbsp; end<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %compute f_n*y(k)<br />&nbsp; &nbsp; for ite1=1:N<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;for ite2=1:na+1<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;f_t(ite1)=f_t(ite1)+f_f(ite1,ite2)*y(k+1-ite2);<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %compute g_n*u(k)<br />&nbsp; &nbsp; for ite1=1:N<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;for ite2=1:nb<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;&nbsp; &nbsp;g_t(ite1)=g_t(ite1)+g{ite1}(ite2+ite1)*(u(k-tao-ite2)-u(k-tao-ite2-1));<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;end<br />&nbsp; &nbsp; end&nbsp; &nbsp; <br />&nbsp; &nbsp; % set trace&nbsp; &nbsp;<br />&nbsp; &nbsp; for ite1=1:N<br />&nbsp; &nbsp;&nbsp; &nbsp;&nbsp;&nbsp;w(ite1)=alpha^(ite1)*y(k)+(1-alpha^(ite1))*c;<br />&nbsp; &nbsp; end<br />&nbsp; &nbsp; <br />&nbsp; &nbsp; %compute u&nbsp; &nbsp; <br />&nbsp; &nbsp; r_ft=g_t+f_t;<br />&nbsp; &nbsp; be_u=inv(g_g'*g_g+eye(Nu))*g_g';<br />&nbsp; &nbsp; u(k-tao+1)=u(k-tao)+be_u(1,<img src="images/smilies/default/smile.gif" smilieid="1" border="0" alt="" />*(w-r_ft);&nbsp; &nbsp; <br />end<br />%plot y u<br />plot(y);<br />figure;<br />plot(u);</div>

							
							
							
							
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