Открыть Электронные книги
Категории
Открыть Аудиокниги
Категории
Открыть Журналы
Категории
Открыть Документы
Категории
.
,
,
.
-
,
.
,
:
~
~~
~
~
x[k + 1] = A~
x[k ] + Bu
[k ] + Hd[k ],
~
~
y[k ] = C~
x[k ] + w[k ].
(1)
k = 0,1,2,... ,
~[ k ] E m ~
y[k ] Er
t = k t , t . ~x[k ] E n , u
, (
) t = k t , d[k ] E nd
, w[k ] E r .
~ ~ ~ ~
A , B , H C .
(1)
j = 0,1,2,..., x[ k ] = ~
x[ k ],
(2)
, ,
(1). ,
~ ~ ~
A , B C A , B C
(1), .
(2) j = 0
~
,
x[ k ]
k - .
,
(2) x [ k ] . ,
~[i ] = u[i] i = k , k + 1,..., k + P.
u
(3)
j =1
R k + j Q k + j ,
T
J k = J k (y (u ), u ) = J k (u ) min
mP
(4)
(5)
uE
u[i] ,
(3) .
, (3)
u ,
.
(5), .
,
.
1. :
u min
u j [i ] u max
, i = k , k + P 1, j = 1, m ,
j
j
(6)
u min ,u max , .
. ,
.
,
. ,
.
2. :
u min
u j [i ] u max
, i = k , k + P 1, j = 1, m,
j
j
(7)
u min , u max , ,
u[i ] = u[i ] u[i 1].
3. () :
y min
y j [i ] y max
j
j , i = k , k + P 1, j = 1, r ,
(8)
y min , y max .
(6)(8),
T
.
,
u ,
.
(6) . ,
:
Au u bu ,
(9)
0
0
E mxm
!
0
0
0
0 E mxm
2mP mP ,
A u =
0
E mxm 0
0
!
0
mxm
u max
E 2 mP .
b u =
min
u
(
(7)). u[k ] k -
u[k ]:
u = M 0 u + M1u[k 1],
(10)
E mxm
E mxm
M 0 =
"
0
E mxm
!
E mxm
0
E mxm
"
0
, M1 =
.
!
0
0
E mxm
(10), (7)
:
A u u b u + bu u[ k 1],
(11)
u max
M
M1
,
b
=
A u = 0 , b u =
u
min
M
M
1
0
u
, (11) ,
(k 1) - .
(
(8)). ,
u y
:
y = Lx k + M u ,
(12)
L M ,
0
... 0
CA
CB
2
CB
... 0
CA ,
CAB
.
L =
M =
...
...
...
... ...
P
P 1
P2
CA
CA
B
CA
B
...
CB
(12), (8), ,
u
A y u b y + bu x[k ],
(13)
y max
M
L
, b y = min , bu =
.
A y =
L
, (13)
, x[k ] .
Au b ,
(14)
b u 0
0
A u
A = A u , b = b u + bu u[ k 1] + 0 x[ k ] .
A
b 0
b '
y
y
y
(14)
u
. :
= { u E mP : Au b }.
(15)
, (3)
u y (4).
T
J k = J k (u ) = (y r ) R(y r ) + u T Qu ,
(16)
J k = J k (u ) = u T Hu + 2f T u + g ,
(17)
H = M T RM + Q , f = M T RLx[k ] M T Rr , g = const .
, (17)
H . , -
R Q ,
z T Hz = z T (M T RM + Q )z = z T M T RMz + z T Qz = ~z T R~z + z T Qz 0 , z E mP ,
, z = 0 .
(5)
:
J k = J k (u ) = u T Hu + 2f T u + g minmP .
(18)
u E
(15) u . (18)
T
u* = (u*[k ] u*[k + 1] u*[k + P 1] ) . MPC u*[k ]
.
.
, (18)
.
, ,
.
, ,
Optimization Toolbox MATLAB. ,
.
,
( ).
,
~[k ] = u[k ] = f (k , ~
MPC- u
x[k ]) , ,
,
.
, , ,
.
, MPC- :
1) ,
(18);
2) MPC-
, ;
3) MPC-
.