Real-time nonlinear MPC and MHE for a large-scale mechatronic application

被引：61

作者：

Vukov, M. ^{[1
]}

Gros, S. ^{[2
]}

Horn, G. ^{[1
,5
]}

Frison, G. ^{[4
]}

Geebelen, K. ^{[3
]}

Jorgensen, J. B. ^{[4
]}

Swevers, J. ^{[3
]}

Diehl, M. ^{[1
,5
]}

机构：

[1] Katholieke Univ Leuven, ESAT STADIUS, Dept Elect Engn, B-3001 Heverlee, Belgium

[2] Chalmers Univ Technol, Dept Signals & Syst, SE-41296 Gothenburg, Sweden

[3] Katholieke Univ Leuven, Div PMA, Dept Mech Engn, B-3001 Heverlee, Belgium

[4] Tech Univ Denmark, DTU Compute Dept Appl Math & Comp Sci, DK-2800 Lyngby, Denmark

[5] Univ Freiburg, Dept Microsyst Engn IMTEK, D-79110 Freiburg, Germany

来源：

CONTROL ENGINEERING PRACTICE | 2015年 / 45卷

关键词：

Nonlinear model predictive control (NMPC); Moving horizon estimation (MHE); Real-time iteration (RTI) scheme; Automatic code generation; Airborne wind energy; Rotational start-up; MODEL-PREDICTIVE CONTROL; OPTIMIZATION; STATE;

D O I：

10.1016/j.conengprac.2015.08.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Progress in optimization algorithms and in computational hardware made deployment of Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) possible to mechatronic applications. This paper aims to assess the computational performance of NMPC and MHE for rotational start-up of Airborne Wind Energy systems. The capabilities offered by an automatic code generation tool are experimentally verified on a real physical system, using a model comprising 27 states and 4 inputs at a sampling frequency of 25 Hz. The results show the feedback times less than 5 ms for the NMPC with more than 1500 variables. (C) 2015 Elsevier Ltd. All rights reserved.

引用

页码：64 / 78

页数：15

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