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用于球盘系统的快速实时模型预测控制

Fast Real-Time Model Predictive Control for a Ball-on-Plate Process.

作者信息

Zarzycki Krzysztof, Ławryńczuk Maciej

机构信息

Faculty of Electronics and Information Technology, Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland.

出版信息

Sensors (Basel). 2021 Jun 8;21(12):3959. doi: 10.3390/s21123959.

DOI:10.3390/s21123959
PMID:34201376
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8227131/
Abstract

This work is concerned with an original ball-on-plate laboratory process. First, a simplified process model based on state-space process description is derived. Next, a fast state-space MPC algorithm is discussed. Its main advantage is computational simplicity: the manipulated variables are found on-line using explicit formulas with parameters calculated off-line; no real-time optimization is necessary. Software and hardware implementation details of the considered MPC algorithm using the STM32 microcontroller are presented. Tuning of the fast MPC algorithm is discussed. To show the efficacy of the MPC algorithm, it is compared with the classical PID and LQR controllers.

摘要

这项工作涉及一种原始的球盘实验室过程。首先，推导了基于状态空间过程描述的简化过程模型。接下来，讨论了一种快速状态空间MPC算法。其主要优点是计算简单：通过离线计算参数的显式公式在线找到操纵变量；无需实时优化。给出了使用STM32微控制器的所考虑的MPC算法的软件和硬件实现细节。讨论了快速MPC算法的调整。为了展示MPC算法的有效性，将其与经典的PID和LQR控制器进行了比较。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/0e6103fc54b5/sensors-21-03959-g012.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/cca5598230ab/sensors-21-03959-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/0e6103fc54b5/sensors-21-03959-g012.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/ff8e9e15e9e8/sensors-21-03959-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/c864458ae65a/sensors-21-03959-g003.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/6d1904db4cd5/sensors-21-03959-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/edf3db4c53d8/sensors-21-03959-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/1412c1da17f2/sensors-21-03959-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/4d1536fe6c02/sensors-21-03959-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/eaf6cea145cd/sensors-21-03959-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/cca5598230ab/sensors-21-03959-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/0168/8227131/0e6103fc54b5/sensors-21-03959-g012.jpg

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