Multirate Predictive Control with Multiple Reference ...
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Multirate Predictive Control with Multiple Reference ...
MULTIRATE PREDICTIVE CONTROL WITH MULTIPLE REFERENCE MODEL APPLICATION ON THERMIC PROCESS •
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V. KONCAR , C. VASSEUR , P. BRUNIAUX and D. PINCHON
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"£Cole Nationale Superieure des Arts et Industries Tatiles, GEftfTEX 2, Place des Martyrs de la Resistance, 59070 Roubaix CEDEX, FRANCE Phone: 20.25.64.64. Fax: 20.24.84.06. +Centre d'Aulomalique de Lil/e BAT P2. Cite Scientifique, 59650 Villeneuve d'Ascq, FRANCE Phone: 20.43.48.76. Abstract. The Multirate Predictive Control (Sliding Criterion Jm) with Multiple Reference Model has been used to control a thennic process including important non-Iinearities and dead time. The thennic process is controlled by pulse width modulation and it has been modelized by simple linear transfer function including only heating part This linearized model has been used to design the polynomial multirate predictive controller with modified sliding criterion. The high frequencies measurement disturbances have been partially rejected by implementation of an HR digital filter. Key Words. Multirate; Predictive Control; Thennic process; Filters Resume. La Commande Predictive Multiechantillonnee (Critere it glissement Jm ) avec Modi:les de Reference Multiples a ete utilisee pour commander un processus thennique incluant de fortes non-Iinearites et un retard important Le processus thennique est commande par la modulation d'impulsion en largeur et est modelise par un mode le Iineaire concemant uniquement sa partie de chautTage. Ce meme modele est utilise pour la synthese du regulateur predictif. Les perturbations dues it la mesure sont partiellement rejetees par I'utilisation d'un filtre it RH. Mots cles. Multiechantillonnage; Commande Predictive; Processus thennique; Filtres
1. INTRODUCTION
In the last decade many papers have been published on predictive control methods. These methods promises good control proprieties and robust behaviour, Richalet and al. and Clarke and al. In some cases the measurement errors and large load disturbances can induce important mathematical model errors and then predictive control gives poor control properties. Because of this, digital filters have to be used to eliminate measurement disturbances.
Digital computers were originally used as components in complicated process control systems. However, because of their small size and low price, digital computers are now also being used in regulators for individual control loops. Because of these developments, the approach to analysis, design and implementation of control systems are changing drastically. Originally it was only a matter of translating the analog design into the new technology (digital PlO and State feedback redesign). However it has been realized that there is much to be gained by exploiting the full potential of the new technology. New control theories have also been developed giving the advanced control methods which can be implemented even for basic application such as thermic process as shown in this paper.
The one step ahead predictive control algorithms based on non parametric models have been proposed by R.Bars (1992). The linear system output is predicted on the basis of the non-parametric discrete weighting model. In general, the predictive control method is based on the computation of series of the control signal by minimizing a quadratic deviation of reference signal and the predicted 503
