MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifikace stáhnout pdf (Strana 114)

4 Designing Controllers Using the Command Line

4-4

Min: -Inf

Max: Inf

MinECR: 0

MaxECR: 0

RateMin: -Inf

RateMax: Inf

RateMinECR: 0

RateMaxECR: 0

Target: 'nominal'

Name: 'T_c'

Units: ''

This shows that the default controller has no constraints on the manipulated variable.

To include constraints as shown in Entering CSTR Manipulated Variable Constraints,

enter:

MPCobj.MV.Min = -10;

MPCobj.MV.Max = 10;

MPCobj.MV.RateMin = -4;

MPCobj.MV.RateMax = 4;

There are two outputs in this case, so MPCobj.OV is a 1-by-2 structure. To set

measurement units to the values shown in Controller Options — Weight Tuning Tab,

enter:

MPCobj.Model.Plant.OutputUnit = {'Deg C','kmol/m^3'};

Note The unit properties for display purposes only and is optional.

Finally, check the default weights by typing

MPCobj.W

ManipulatedVariables: 0

ManipulatedVariablesRate: 0.1000

OutputVariables: [1 1]

ECR: 100000

Change to the values shown in Controller Options — Weight Tuning Tab by typing:

MPCobj.W.ManipulatedVariablesRate = 0.3;

MPCobj.W.OutputVariables = [1 0];

1 2 ... 109 110 111 112 113 114 115 116 117 118 119 ... 165 166

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MATLAB MODEL PREDICTIVE CONTROL TOOLBOX - S Specifikace Strana 114