📄 【求助】用matlab进行预测控制的仿真 - 预测控制 - 自动控制 - 研学论坛 研学学术科技.htm
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<H2>Re:【求助】用MATLAB进行预测控制的仿真</H2>
<DIV class=t_msgfont id=postmessage_532178>我这里有一个GPC的程序，是我们上课老师布置的作业
希望对你有帮助<BR>clear all;<BR>close all;<BR>%Parameter<BR>%Mode<BR>%mode=1 tao
does not change, while a changes<BR>%mode=2 tao changes , while a does not
change<BR>Mode=2;<BR><BR>%System
structure<BR>na=2;<BR>nb=1;<BR>tao=0;<BR><BR>%predictive control
parameter<BR>N=5; %predictive time domain<BR>Nu=1;
%control time domain<BR><BR>%identification
parameters<BR>po_thita=zeros(na+nb+1,1);<BR>mu=0.97;<BR>fai=zeros(na+nb+1,1);<BR>P=10*eye(na+nb+1);<BR><BR>%set
trace
parameters<BR>T=1;<BR>ta=1.8;<BR>alpha=exp(-T/ta);<BR>c=2;<BR><BR>%input
and
output<BR>y_temp=zeros(1,3);<BR>y=zeros(1,1000);<BR>u=zeros(1,1000);<BR>u(1,4)=1;<BR>noise=random('Normal',
0,0.01,1,991);<BR><BR>%Start<BR>for k=10:1000 <BR> switch
Mode<BR> case 1<BR>
tao=6;<BR>
if k<=201<BR>
a=0.8854;<BR>
elseif k<=301<BR>
a=0.6725;<BR>
elseif k<=401<BR>
a=0.5968;<BR>
elseif k<=501<BR>
a=0.7762;<BR>
else<BR>
a=0.8854;<BR>
end<BR>
case 2<BR>
a=0.8854;<BR>
if k<=201<BR>
tao=6;<BR>
elseif k<=301<BR>
tao=4; <BR>
elseif k<=401<BR>
tao=8;<BR>
elseif k<=501<BR>
tao=6;<BR>
else<BR>
tao=6;<BR>
end<BR> end<BR> <BR>
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>
y(k)=y_temp(1)+noise(k-9);<BR> <BR>
y_temp(3)=y_temp(2);<BR> y_temp(2)=y_temp(1);<BR>
<BR> %identification<BR> <BR>
%fai<BR> for i=1:na<BR>
fai(i)=-(y(k-i)-y(k-i-1));<BR>
end<BR> for i=1:nb+1<BR>
fai(na+i)=u(k-tao+1-i)-u(k-tao+1-i-1);<BR>
end<BR> <BR>
kai=P*fai/(fai'*P*fai+mu);<BR>
P=(mu^(-1))*(eye(na+nb+1)-kai*fai')*P;<BR>
po_thita=po_thita+kai*(y(k)-y(k-1)-fai'*po_thita);<BR>
thita=[1,po_thita'];<BR> <BR> %diophantine
<BR> f=zeros(na+1,1);<BR>
f(1)=1;<BR> f_f=zeros(N,na+1);<BR>
E=cell(1,N);<BR> E{1}=1;<BR> <BR>
g=cell(1,N);<BR> g_g=zeros(N,Nu);<BR>
f_t=zeros(N,1);<BR> g_t=zeros(N,1);<BR>
w=zeros(N,1);<BR> <BR> for ite1=1:N<BR>
f_e=f(1);<BR>
for ite2=1:na<BR>
f(ite2)=f(ite2+1)-(thita(ite2+1)-thita(ite2))*f_e;<BR>
end<BR>
f(na+1)=thita(na+1)*f_e;<BR>
f_f(ite1,<IMG alt=""
src="【求助】用MATLAB进行预测控制的仿真 - 预测控制 - 自动控制 - 研学论坛 研学学术科技.files/smile.gif"
border=0 smilieid="1">=f';<BR> if
ite1<N<BR>
E{ite1+1}=[E{ite1},f(1)];<BR>
end<BR> end<BR> <BR>
%compute g<BR> for ite1=1:N<BR>
g{ite1}=zeros(1,nb+ite1);<BR>
for ite2=1:nb+ite1<BR>
for ite3=1:ite1<BR>
temp=ite2+1-ite3;<BR>
if
(temp<=nb+1)&(temp>=1)<BR>
g{ite1}(ite2)=g{ite1}(ite2)+thita(na+1+temp)*E{ite1}(ite3);<BR>
end<BR>
end<BR>
end<BR> end<BR> <BR>
%compute g_g<BR> for ite1=1:N<BR>
if ite1<=Nu<BR>
for ite2=1:ite1<BR>
g_g(ite1,1+ite1-ite2)=g{ite1}(ite2);<BR>
end<BR>
else<BR> for
ite2=1:Nu<BR>
g_g(ite1,Nu+1-ite2)=g{ite1}(ite1-Nu+ite2);<BR>
end<BR>
end<BR> end<BR> <BR> %compute
f_n*y(k)<BR> for ite1=1:N<BR>
for ite2=1:na+1<BR>
f_t(ite1)=f_t(ite1)+f_f(ite1,ite2)*y(k+1-ite2);<BR>
end<BR> end<BR>
<BR> %compute g_n*u(k)<BR> for
ite1=1:N<BR> for ite2=1:nb<BR>
g_t(ite1)=g_t(ite1)+g{ite1}(ite2+ite1)*(u(k-tao-ite2)-u(k-tao-ite2-1));<BR>
end<BR> end
<BR> % set trace <BR> for
ite1=1:N<BR>
w(ite1)=alpha^(ite1)*y(k)+(1-alpha^(ite1))*c;<BR>
end<BR> <BR> %compute u
<BR> r_ft=g_t+f_t;<BR>
be_u=inv(g_g'*g_g+eye(Nu))*g_g';<BR>
u(k-tao+1)=u(k-tao)+be_u(1,<IMG alt=""
src="【求助】用MATLAB进行预测控制的仿真 - 预测控制 - 自动控制 - 研学论坛 研学学术科技.files/smile.gif"
border=0 smilieid="1">*(w-r_ft); <BR>end<BR>%plot y
u<BR>plot(y);<BR>figure;<BR>plot(u);</DIV>
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