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  • MPC

    Загружено:

    maithuong85
    2 просмотров6 страниц

    Оригинальное название

    Mpc

    Авторское право

    © Attribution Non-Commercial (BY-NC)

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    TXT, PDF, TXT или читайте онлайн в Scribd

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    Attribution Non-Commercial (BY-NC)
    Скачайте в формате TXT, PDF, TXT или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    2 просмотров6 страниц

    MPC

    Загружено:

    maithuong85

    Авторское право:

    Attribution Non-Commercial (BY-NC)
    Скачайте в формате TXT, PDF, TXT или читайте онлайн в Scribd
    Отметить как неприемлемый контент
    из 6

    clear all;

    close all;
    Ts=0.5;%0.5s
    Tr=1;H=10;%1,10
    Km=3;Tm=3;%
    beta=exp(-Ts/Tr);
    alph=exp(-Ts/Tm);
    %
    sys=tf(3,[3,1]);
    dsys=c2d(sys,Ts,'z');
    [num,den]=tfdata(dsys,'v');
    %
    sysm=tf(Km,[Tm,1]);
    dsysm=c2d(sysm,Ts,'z');
    [numm,denm]=tfdata(dsysm,'v');
    u_1=0;
    y_1=0;
    ym_1=0;
    c=1;%
    for k=1:1:100
    time(k)=k*Ts;
    %z
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    %ypav(k)=y(k)
    ypav(k)=y(k)
    %
    u(k)=((c-ypav(k))*(1-beta^H)+ym(k)*(1-alph^H))/(Km*(1-alph^H));
    %
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    figure(1);
    plot(time,c,'b',time,y,'r');
    axis([0 50 0 1.2])
    xlabel('time(s)');ylabel('c,y');

    clear all;
    close all;
    Ts=0.5;%0.5s
    Tr=1;H=10;%1,10
    Km=3;Tm=3;%
    beta=exp(-Ts/Tr);
    alph=exp(-Ts/Tm);

    %
    sys=tf(3,[3,1]);
    dsys=c2d(sys,Ts,'z');
    [num,den]=tfdata(dsys,'v');
    %
    sysm=tf(Km,[Tm,1]);
    dsysm=c2d(sysm,Ts,'z');
    [numm,denm]=tfdata(dsysm,'v');
    u_1=0;
    y_1=0;
    ym_1=0;
    c=1;%
    for k=1:1:40
    time(k)=k*Ts;
    %z
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    %
    u(k)=((c-y(k))*(1-beta^H)+ym(k)*(1-alph^H))/(Km*(1-alph^H));
    %
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    for k=41:1:44
    time(k)=k*Ts;
    c=1.2;
    %z
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    %
    u(k)=((c-y(k))*(1-beta^H)+ym(k)*(1-alph^H))/(Km*(1-alph^H));
    %
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    for k=45:1:140
    time(k)=k*Ts;
    c=1;
    %z
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;

    %
    u(k)=((c-y(k))*(1-beta^H)+ym(k)*(1-alph^H))/(Km*(1-alph^H));
    %
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    figure(1);
    plot(time,y,'r');
    axis([0 70 0 1.2]);
    xlabel('time(s)');ylabel('c,y');

    clear all;
    close all;
    Ts=0.5;%0.5s
    Tr=1;H1=4;H2=5;%1,H14H25
    Km=15;Tm=15;%
    beta=exp(-Ts/Tr);
    alph=exp(-Ts/Tm);
    %
    sys=tf(5,[5,1]);
    dsys=c2d(sys,Ts,'z');
    [num,den]=tfdata(dsys,'v');
    %
    sysm=tf(Km,[Tm,1]);
    dsysm=c2d(sysm,Ts,'z');
    [numm,denm]=tfdata(dsysm,'v');
    u_1=0;
    y_1=0;
    ym_1=0;
    s1=0;
    s2=0;
    G1(H1)=Km*(1-alph^H1);
    G1(H2)=Km*(1-alph^H2);
    for i=1:1:H1-1
    s1=s1+i*alph^(H1-1-i);
    end;
    for j=1:1:H2-1
    s2=s2+i*alph^(H2-1-i);
    end;
    G2(H1)=Km*(1-alph)*s1;
    G2(H2)=Km*(1-alph)*s2;
    for k=1:1:200
    time(k)=k*Ts;
    c(k)=time(k);%
    %c(k+H1)=(k+H1)*Ts;
    %c(k+H2)=(k+H2)*Ts;

    %z
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    %ypav(k)=y(k)
    %ypav(k)=y(k);
    %yr(k+H1)=e(k+H1)-beta^H1*(c(k)-ypav(k))e(k+H1)c(k+H1)
    %yr(k+H1)=c(k+H1)-beta^H1*(c(k)-ypav(k))
    %X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1)
    yr(k+H1)=(k+H1)*Ts-beta^H1*((k+0)*Ts-y(k));
    yr(k+H2)=(k+H2)*Ts-beta^H2*((k+0)*Ts-y(k));
    e(k+H1)=y(k)-ym(k);
    e(k+H2)=y(k)-ym(k);
    X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1);
    X2=yr(k+H2)-alph^H2*ym(k)-e(k+H2);
    %
    u(k)=(G2(H2)*X1-G2(H1)*X2)/(G1(H1)*G2(H2)-G1(H2)*G2(H1));
    %
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    figure(1);
    plot(time,c,'b-',time,y,'r--');
    %axis([0 50 0 1.2])
    xlabel('time(s)');ylabel('c,y');

    clear all;
    close all;
    Ts=0.5;%0.5s
    Tr=1;H1=4;H2=5;%1,H14H25
    Km=15;Tm=15;%
    beta=exp(-Ts/Tr);
    alph=exp(-Ts/Tm);
    %
    sys=tf(5,[5,1]);
    dsys=c2d(sys,Ts,'z');
    [num,den]=tfdata(dsys,'v');
    %
    sysm=tf(Km,[Tm,1]);
    dsysm=c2d(sysm,Ts,'z');
    [numm,denm]=tfdata(dsysm,'v');
    u_1=0;
    y_1=0;
    ym_1=0;
    s1=0;
    s2=0;

    G1(H1)=Km*(1-alph^H1);
    G1(H2)=Km*(1-alph^H2);
    for i=1:1:H1-1
    s1=s1+i*alph^(H1-1-i);
    end;
    for j=1:1:H2-1
    s2=s2+i*alph^(H2-1-i);
    end;
    G2(H1)=Km*(1-alph)*s1;
    G2(H2)=Km*(1-alph)*s2;
    for k=1:1:80
    time(k)=k*Ts;
    c(k)=time(k);%
    %c(k+H1)=(k+H1)*Ts;
    %c(k+H2)=(k+H2)*Ts;
    %z
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    %ypav(k)=y(k)
    %ypav(k)=y(k);
    %yr(k+H1)=e(k+H1)-beta^H1*(c(k)-ypav(k))e(k+H1)c(k+H1)
    %yr(k+H1)=c(k+H1)-beta^H1*(c(k)-ypav(k))
    %X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1)
    yr(k+H1)=(k+H1)*Ts-beta^H1*((k+0)*Ts-y(k));
    yr(k+H2)=(k+H2)*Ts-beta^H2*((k+0)*Ts-y(k));
    e(k+H1)=y(k)-ym(k);
    e(k+H2)=y(k)-ym(k);
    X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1);
    X2=yr(k+H2)-alph^H2*ym(k)-e(k+H2);
    %
    u(k)=(G2(H2)*X1-G2(H1)*X2)/(G1(H1)*G2(H2)-G1(H2)*G2(H1));
    %
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    for k=81:1:160
    time(k)=k*Ts;
    c(k)=40;%
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    yr(k+H1)=40-beta^H1*(40-y(k));
    yr(k+H2)=40-beta^H2*(40-y(k));
    e(k+H1)=y(k)-ym(k);
    e(k+H2)=y(k)-ym(k);

    X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1);
    X2=yr(k+H2)-alph^H2*ym(k)-e(k+H2);
    u(k)=(G2(H2)*X1-G2(H1)*X2)/(G1(H1)*G2(H2)-G1(H2)*G2(H1));
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    for k=161:1:200
    time(k)=k*Ts;
    c(k)=-1.5*k*Ts+160;
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    yr(k+H1)=-1.5*(k+H1)*Ts+160-beta^H1*(c(k)-y(k));
    yr(k+H2)=-1.5*(k+H2)*Ts+160-beta^H2*(c(k)-y(k));
    e(k+H1)=y(k)-ym(k);
    e(k+H2)=y(k)-ym(k);
    X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1);
    X2=yr(k+H2)-alph^H2*ym(k)-e(k+H2);
    u(k)=(G2(H2)*X1-G2(H1)*X2)/(G1(H1)*G2(H2)-G1(H2)*G2(H1));
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    for k=200:1:300
    time(k)=k*Ts;
    c(k)=10;
    y(k)=-den(2)*y_1+num(2)*u_1;
    ym(k)=-denm(2)*ym_1+numm(2)*u_1;
    yr(k+H1)=10-beta^H1*(c(k)-y(k));
    yr(k+H2)=10-beta^H2*(c(k)-y(k));
    e(k+H1)=y(k)-ym(k);
    e(k+H2)=y(k)-ym(k);
    X1=yr(k+H1)-alph^H1*ym(k)-e(k+H1);
    X2=yr(k+H2)-alph^H2*ym(k)-e(k+H2);
    u(k)=(G2(H2)*X1-G2(H1)*X2)/(G1(H1)*G2(H2)-G1(H2)*G2(H1));
    u_1=u(k);
    y_1=y(k);
    ym_1=ym(k);
    end
    figure(1);
    plot(time,c,'b-',time,y,'r--');
    axis([0 150 0 45])
    xlabel('time(s)');ylabel('c,y');

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