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getindist

检索未测量的输入干扰模型

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Syntax

indist = getindist(MPCobj)
[indist,channels] = getindist(MPCobj)

Description

example

indist= getindist(MPCobj)returns the input disturbance model,indist，由模型预测控制器使用，MPCobj.

example

[indist,channels] = GetDindist（MPCobj)还返回默认情况下添加了集成白噪声的输入通道。有关默认模型的更多信息，请参阅MPC建模.

Examples

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打开直播脚本

定义工厂模型，没有直接馈通。

plant = rss(3,1,2); plant.D = 0;

Set the first input signal as a manipulated variable and the second input as an unmeasured disturbance.

plant = setmpcsignals(plant,'MV'，[1]，'ud',[2]);

为已定义的工厂创建MPC控制器。

MPCobj = mpc(plant,0.1);
-->The "PredictionHorizon" property of "mpc" object is empty. Trying PredictionHorizon = 10. -->The "ControlHorizon" property of the "mpc" object is empty. Assuming 2. -->The "Weights.ManipulatedVariables" property of "mpc" object is empty. Assuming default 0.00000. -->The "Weights.ManipulatedVariablesRate" property of "mpc" object is empty. Assuming default 0.10000. -->The "Weights.OutputVariables" property of "mpc" object is empty. Assuming default 1.00000.

Extract the input disturbance model.

indist = getindist(MPCobj);
-->Converting model to discrete time. -->The "Model.Disturbance" property of "mpc" object is empty: Assuming unmeasured input disturbance #2 is integrated white noise. Assuming no disturbance added to measured output channel #1. -->The "Model.Noise" property of the "mpc" object is empty. Assuming white noise on each measured output channel.
打开直播脚本

定义工厂模型，没有直接馈通。

plant = rss(3,1,3); plant.D = 0;

将第一输入信号设置为被操纵变量，另外两个输入作为未升定的干扰。

plant = setmpcsignals(plant,'MV'，[1]，'ud'，[2 3]）;

为已定义的工厂创建MPC控制器。

MPCobj = mpc(plant,0.1);
-->The "PredictionHorizon" property of "mpc" object is empty. Trying PredictionHorizon = 10. -->The "ControlHorizon" property of the "mpc" object is empty. Assuming 2. -->The "Weights.ManipulatedVariables" property of "mpc" object is empty. Assuming default 0.00000. -->The "Weights.ManipulatedVariablesRate" property of "mpc" object is empty. Assuming default 0.10000. -->The "Weights.OutputVariables" property of "mpc" object is empty. Assuming default 1.00000.

提取默认输出干扰模型。

[indist,channels] = getindist(MPCobj);
-->Converting model to discrete time. -->The "Model.Disturbance" property of "mpc" object is empty: Assuming unmeasured input disturbance #2 is integrated white noise. Assuming unmeasured input disturbance #3 is white noise. Assuming no disturbance added to measured output channel #1. -->The "Model.Noise" property of the "mpc" object is empty. Assuming white noise on each measured output channel.

Check which input disturbance channels have integrated white noise added by default.

channels
channels = 1

An integrator has been added only to the first unmeasured input disturbance. The other input disturbance uses a static unity gain to preserve state observability.

Input Arguments

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Model predictive controller, specified as an MPC controller object. To create an MPC controller, usempc.

Output Arguments

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模型预测控制器使用的输入干扰模型，MPCobj, returned as a discrete-time, delay-free, state-space model.

输入干扰模型具有：

  • 单位方差白噪声输入信号。默认情况下，输入的数量取决于未测量的输入干扰的数量，并且需要维护控制器状态可观察性。对于自定义输入干扰模型，输入的数量是您的选择。

  • ndoutputs, wherendis the number of unmeasured disturbance inputs defined inmpcobj.model.plant.. Each disturbance model output is sent to the corresponding plant unmeasured disturbance input.

IfMPCobjdoes not have any unmeasured disturbance,indistis returned as an empty state-space model.

该模型与输出干扰模型（如果有）结合使用，控制控制器对未测量的干扰和建模错误的补偿程度。有关MPC中扰动建模的更多信息，以及在状态估计期间使用的模型，请参阅MPC建模和控制器状态估计.

默认情况下添加了具有集成白噪声的输入通道，返回为输入指标的向量。如果你设置了indistto a custom input disturbance model usingsetinist.,channels是空的。

提示

  • 指定一个自定义输入说turbance model, use thesetinist.command.

See Also

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Topics

Introduced in R2006a

Model Predictive Control Toolbox Documentation

金宝app

Implementing an Adaptive Cruise Controller with Simulink

Implementing an Adaptive Cruise Controller with Simulink

Download technical paper