DMC.zip_DMC_动态矩阵控制_单输入dmc

clear all; clc; close all; d=35; A=[1.6375 -0.6703]; num=[0.0350 0.0307]; B=[zeros(1,d) num]; den=[1 -A zeros(1,d-1)]; P=tf(num,den,0.2) Ap=A;Bp=B; na=size(Ap,2); nb=size(Bp,2); y_ant=zeros(1,na); u_ant=zeros(1,nb); N=80; %模型长度 g=step(P,N); dulib=zeros(1,N); p=60; %预测时域 m=3; %控制时域 G=zeros(p,m); G(:,1)=g(1:p); for i=2:m ga=[zeros(1,i-1) g(1:p-i+1)']; G(:,i)=ga'; end %--------define simulation--------------- puntos=1000; %仿真结束时间 lambda=1; %控制量加权 Mn=(G'*G+lambda*eye(m)); Mn1=inv(Mn)*G'; qn=Mn1(1,:); u=zeros(1,puntos); yp=zeros(1,puntos); ypr=zeros(1,puntos); w=[zeros(1,5) 0.5*ones(1,puntos-5)]; af=0.1; %输入滤波系数,越小性能越好 r=filter((1-af),[1 -af],w); %--------inicialization------------------- inc_u=0; for k=1:puntos yp(k)=Ap*y_ant'+Bp*u_ant'; %----add a disturbance at the output if k>100 ypr(k)=yp(k)-0.1; else ypr(k)=yp(k); end %----actualization of the output if na==1 y_ant=yp(k); else aux_y=y_ant(1:na-1); y_ant=[yp(k) aux_y]; end %----computes prediction for DMC f=zeros(1,p); for kk=1:p for i=1:N-p vect_g(i)=g(kk+i)-g(i); end for i=N-p+1:N vect_g(i)=g(N)-g(i); end f(kk)=ypr(k)+vect_g*dulib'; end ref=r(k)*ones(1,p)'; inc_u=qn*(ref-f'); if k==1 u(k)=inc_u; else u(k)=u(k-1)+inc_u; end %actualization for control vector aux_u=u_ant(1:nb-1); u_ant=[u(k) aux_u]; %actualization dulib aux_2=dulib(1:N-1); dulib=[inc_u aux_2]; end %------plot------- nm=puntos; h=subplot(2,1,1); for i=1:nm t(i)=0.2*i; end plot(t(1:nm),w(1:nm),'-.',t(1:nm),ypr(1:nm),'-','LineWidth',1.5); title('Output of the process'); legend('r','DMC','Location','SouthEast'); xlabel('time(s)','FontSize',12); ylabel('r,y','FontSize',12); axis([0 50 -0.1 0.7]); set(h,'FontSize',12); grid on; h=subplot(2,1,2); plot(t(1:nm),u(1:nm),'-','LineWidth',1.5); title('Control Action of the process'); xlabel('time(s)','FontSize',12); ylabel('u','FontSize',12); axis([0 50 -0.5 0.5]); set(h,'FontSize',12); grid on;