Controle MPC multivariável com restrições usando funções de Laguerre
This work presents a constrained multivariable model predictive controller using Laguerre Functions. This controller uses a set of orthonormal Laguerre networks for representation of the control trajectory within a control horizon. In order to demonstrate the advantages of applying this type of c...
| Autor principal: | PINHEIRO, Tarcísio Carlos Farias |
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| Grau: | Dissertação |
| Idioma: | por |
| Publicado em: |
Universidade Federal do Pará
2018
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.ufpa.br/jspui/handle/2011/10067 |
| Resumo: |
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This work presents a constrained multivariable model predictive controller using Laguerre
Functions. This controller uses a set of orthonormal Laguerre networks for representation of the
control trajectory within a control horizon. In order to demonstrate the advantages of applying
this type of controller in MIMO (Multiple-Input and Multiple-Output) systems, the Laguerre
Functions Functions are used to decrease the computational load used to calculate the optimal
control. In addition, It improves the compromise between control signal viability and closed-loop
performance of the system. The Laguerre Functions are also used in conjunction with Hildreth’s
Quadratic Programming to find the optimal solution for the case where the control signal is
constrained. The proposed controller presents advantages when compared to the classical model
predictive control approach, where forward shift operators are used to predict the future trajectory
of the control signal, leading to unsatisfactory solutions and a high computational load for cases
where the control signal demands a long prediction horizon and a high closed-loop performance.It
is also reported the practical testes with a robotic manipulator configured as a MIMO system with
three inputs and three outputs and tests simulated with the Wood and Berry binary distillation
column which is a MIMO system with two inputs and two outputs, also containing transport time
delays. The tests aim to compare the controller results presented with the traditional predictive
control approach and thereby demonstrate the advantages of the method using the Laguerre
functions and their efficiency for MIMO systems. |