Dissertação

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...

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Autor principal: PINHEIRO, Tarcísio Carlos Farias
Grau: Dissertação
Idioma: por
Publicado em: Universidade Federal do Pará 2018
Assuntos:
Controle preditivo
Controle multivariável
Funções de Laguerre
Programação quadrática de Hildreth
Predictive control
Laguerre functions
Hildreth quadratic programming
Multivariable control
CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA::ELETRONICA INDUSTRIAL, SISTEMAS E CONTROLES ELETRONICOS::CONTROLE DE PROCESSOS ELETRONICOS, RETROALIMENTACAO
CONTROLE E AUTOMAÇÃO
SISTEMAS DE ENERGIA ELÉTRICA
Acesso em linha: http://repositorio.ufpa.br/jspui/handle/2011/10067
Resumo:
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.

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