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PCS7: FB1843 Model predictive controller (APL)

Äàòà: 2016-07-05

Äîáàâëåíî: komatic

Òåìà: SCL



predict



model predictive controller ÿâëÿåòñÿ ìíîãîïåðåìåííûì ïðîãíîçèðóþùèì ðåãóëÿòîðîì, ñ ðåæèìîì îáó÷åíèÿ.
íåïðîñòî äàæå ðàçîáðàòüñÿ äëÿ ÷åãî ýòîò ðåãóëÿòîð íóæåí, íå ãîâîðÿ óæå î òîì êàê îí ðàáîòàåò )
PCS7 áèáëèîòåêà APL.





predict


Ôóíêöèÿ âçÿòà èç PCS 7 Advanced Library V8.0 (ññûëêà íà áèáëèîòåêó âíèçó ìàòåðèàëà)



predict


Ïðèíöèï ðàáîòû



predict


Îòëè÷èÿ PI îò DMC àëãîðèòìà.







Name: FB1843
Symbolic Name: ModPreCon
Symbol Comment: Model predictive controller
Family: Control
Version: 2.1
Author: AdvLib80
Last modified: 09/10/2012
Use: FB1444,SFB36,FC260,FC369,SFC20,SFC6
Size: 27040 bytes
Signature: generiert vom SCL Übersetzer Version: SCLCOMP K05.03.07.00_01.02.00.01 release



Ïðèâåäåíà òîëüêî ÷àñòü îñíîâíîãî êîäà, ïîòîìó ÷òî, ïðè êîìïèëÿöèè ïîëíîé âåðñèè, íåñêîëüêî ðàç çàðîæäàëñÿ èñêóñòâåííûé èíòåëåêò è îäèí ðàç ïðèõîäèë êòóëõó )







        DV[1]:=DV1.Value;
        MV_Traj[1]:=ChkREAL(In :=  MV1Traj
                    ,ErrNum := nTemp
                    );
        IF     nTemp=1 OR     nTemp=3 THEN
            ErrorNum:=36;
        END_IF;
        MV_Traj[2]:=ChkREAL(In :=  MV2Traj
                    ,ErrNum := nTemp
                    );
        IF     nTemp=1 OR     nTemp=3 THEN
            ErrorNum:=37;
        END_IF;
        MV_Traj[3]:=ChkREAL(In :=  MV3Traj
                    ,ErrNum := nTemp
                    );
        IF     nTemp=1 OR     nTemp=3 THEN
            ErrorNum:=38;
        END_IF;
        MV_Traj[4]:=ChkREAL(In :=  MV4Traj
                    ,ErrNum := nTemp
                    );
        IF     nTemp=1 OR     nTemp=3 THEN
            ErrorNum:=39;
        END_IF;
        MV_Excite[1]:=MV1Excite.Value;
        MV_Excite[2]:=MV2Excite.Value;
        MV_Excite[3]:=MV3Excite.Value;
        MV_Excite[4]:=MV4Excite.Value;
        IF xSimAct THEN
            IF AutAct.Value THEN
                CV[1]:=SP1Out.Value;
                CV[2]:=SP2Out.Value;
                CV[3]:=SP3Out.Value;
                CV[4]:=SP4Out.Value;
            ELSIF SimOnLi.Value AND SimLiOp.Value THEN
                CV[1]:=SimCV1Li.Value;
                CV[2]:=SimCV2Li.Value;
                CV[3]:=SimCV3Li.Value;
                CV[4]:=SimCV4Li.Value;
            ELSE
                CV[1]:=SimCV1;
                CV[2]:=SimCV2;
                CV[3]:=SimCV3;
                CV[4]:=SimCV4;
            END_IF;   
            CV1Out.Value:=CV[1];
            CV2Out.Value:=CV[2];
            CV3Out.Value:=CV[3];
            CV4Out.Value:=CV[4];
            CV1Out.ST:=B#16#60;
            CV2Out.ST:=B#16#60;
            CV3Out.ST:=B#16#60;
            CV4Out.ST:=B#16#60;
        ELSE
            CV1Out.Value:=CV[1];
            CV2Out.Value:=CV[2];
            CV3Out.Value:=CV[3];
            CV4Out.Value:=CV[4];
            CV1Out.ST:=CV1.ST;
            CV2Out.ST:=CV2.ST;
            CV3Out.ST:=CV3.ST;
            CV4Out.ST:=CV4.ST;
        END_IF;
        SimCV1:=CV[1];
        SimCV2:=CV[2];
        SimCV3:=CV[3];
        SimCV4:=CV[4];
        IF SimLiOp.Value THEN
            SimOn:=SimOnLi.Value;
        END_IF;
        IF     ModLiOp.Value THEN
            IF xFeat_OnlyActPos THEN
                IF AutModLi.Value AND DB_Loaded THEN
                    AutAct.Value:=true;
                ELSE
                    AutAct.Value:=false;
                END_IF;   
                ManModLi.Value:=false;
            ELSE
                IF AutModLi.Value AND DB_Loaded THEN
                    AutAct.Value:=true;
                ELSIF ManModLi.Value THEN
                    AutAct.Value:=false;
                END_IF;
            END_IF;
        ELSE
            IF ManModOp THEN
                AutAct.Value:=false;
            ELSE
                IF AutModOp AND DB_Loaded THEN
                    AutAct.Value:=true;
                END_IF;
            END_IF;       
        END_IF;
        ManModOp:=false;
        AutModOp:=false;
        IF xFeat_ResetInLi THEN
            ManModLi.Value:=false;
            AutModLi.Value:=false;
        END_IF;
        ManAct.Value:= NOT     AutAct.Value;
        IF AutAct.Value THEN
            xOS_Perm_TypeMan:=false;
        END_IF;
        IF NOT     AutAct.Value AND SP_TrkCV THEN
            SP1.Value:=CV1.Value;
            SP2.Value:=CV2.Value;
            SP3.Value:=CV3.Value;
            SP4.Value:=CV4.Value;
            SP[1]:=SP1.Value;
            SP[2]:=SP2.Value;
            SP[3]:=SP3.Value;
            SP[4]:=SP4.Value;
            xOS_Perm_TypeSP_Int1:=false;
            xOS_Perm_TypeSP_Int2:=false;
            xOS_Perm_TypeSP_Int3:=false;
            xOS_Perm_TypeSP_Int4:=false;
        ELSIF NOT Optimizer.Bad AND OptimAct THEN
            SP[1]:=Optimizer.X1Opt;
            SP[2]:=Optimizer.X2Opt;
            SP[3]:=Optimizer.X3Opt;
            SP[4]:=Optimizer.X4Opt;
        ELSE
            SP[1]:=SP1.Value;
            SP[2]:=SP2.Value;
            SP[3]:=SP3.Value;
            SP[4]:=SP4.Value;
        END_IF;
        J_Actual:=J0;
        FOR laufy:=1 TO NumberCVs BY 1 DO
            J_Actual:=GradY[laufy]*CV[laufy]+J_Actual;
        END_FOR;
        FOR laufu:=1 TO NumberMVs BY 1 DO
            J_Actual:=GradU[laufu]*uout[laufu]+J_Actual;
        END_FOR;
        FOR laufy:=1 TO NumberCVs BY 1 DO
            IF SP[laufy]>SPHiLim[laufy] THEN
                SP[laufy]:=SPHiLim[laufy];
            END_IF;   
            IF SP[laufy]<SPLoLim[laufy] THEN
                SP[laufy]:=SPLoLim[laufy];
            END_IF;   
        END_FOR;
        SP1Out.Value:=SP[1];
        SP2Out.Value:=SP[2];
        SP3Out.Value:=SP[3];
        SP4Out.Value:=SP[4];
        SP1OpOut.Value:=SP1.Value;
        SP2OpOut.Value:=SP2.Value;
        SP3OpOut.Value:=SP3.Value;
        SP4OpOut.Value:=SP4.Value;
        IF ufaktorzaehler=1 THEN
            ddvhilf:=ddv;
            FOR laufu:=1 TO NumberDVs BY 1 DO
                ddv[(laufu-1)*n+1]:=DV[laufu]-dalt[laufu];
                FOR lauf:=2 TO n BY 1 DO
                    ddv[(laufu-1)*n+lauf]:=ddvhilf[(laufu-1)*n+lauf-1];
                END_FOR;
            END_FOR;
            dalt[1]:=DV[1];
            FOR laufy:=1 TO NumberCVs BY 1 DO
                IF PreFilt[laufy]>rSampleTime THEN
                    alpha[laufy]:=EXP(-rSampleTime*INT_TO_REAL(ufaktor)*6.0/PreFilt[laufy]);
                ELSE;
                    alpha[laufy]:=0.0;
                END_IF;
                w[(laufy-1)*np+1]:=CV[laufy];
                FOR laufp:=2 TO np BY 1 DO
                    w[(laufy-1)*np+laufp]:=(alpha[laufy]*w[(laufy-1)*np+laufp-1])+(1.0-alpha[laufy])*SP[laufy];
                END_FOR;
            END_FOR;
            IF DB_Loaded THEN
                FOR laufy:=1 TO NumberCVs BY 1 DO
                    FOR laufp:=1 TO np BY 1 DO
                        faltungssumme:=0.0;
                        FOR laufu:=1 TO NumberMVs BY 1 DO
                            index1:=(laufu-1)*n;
                            FOR lauf:=1 TO n BY 1 DO
                                faltungssumme:=(g[laufy,laufu,laufp+lauf]-g[laufy,laufu,lauf])*duv[index1+lauf]+faltungssumme;
                            END_FOR;
                        END_FOR;
                        IF DV_On THEN
                            FOR laufu:=1 TO NumberDVs BY 1 DO
                                index1:=(laufu-1)*n;
                                FOR lauf:=1 TO n BY 1 DO
                                    faltungssumme:=(gz[laufy,laufu,laufp+lauf]-gz[laufy,laufu,lauf])*ddv[index1+lauf]+faltungssumme;
                                END_FOR;
                            END_FOR;
                        END_IF;
                        f[(laufy-1)*np+laufp]:=CV[laufy]+faltungssumme;
                    END_FOR;
                END_FOR;
            END_IF;   
            IF AutAct.Value OR PredictMode THEN
                FOR laufy:=1 TO NumberCVs BY 1 DO
                    FOR lauf:=(laufy-1)*np+1 TO laufy*np BY 1 DO
                        w[lauf]:=w[lauf]-f[lauf];
                        IF SP_DeadBand[laufy]<>0.0  THEN
                            IF w[lauf]<0.0 THEN
                                w[lauf]:=w[lauf]+SP_DeadBand[laufy];
                                IF w[lauf]>0.0 THEN
                                    w[lauf]:=0.0;
                                END_IF;
                            ELSE
                                w[lauf]:=w[lauf]-SP_DeadBand[laufy];
                                IF w[lauf]<0.0 THEN
                                    w[lauf]:=0.0;
                                END_IF;
                            END_IF;   
                        END_IF;
                    END_FOR;
                END_FOR;
                FOR laufu:=1 TO NumberMVs BY 1 DO
                    du[laufu]:=0.0;
                    FOR lauf:=1 TO NumberCVs*np BY 1 DO
                        du[laufu]:=du[laufu]+C[laufu,lauf]*w[lauf];
                    END_FOR;
                    du[laufu]:=du[laufu]+MV_Traj[laufu]-MV_TrajAlt[laufu];
                    MV_TrajAlt[laufu]:=MV_Traj[laufu];
                    MV_Pred[laufu]:=MV_Trk[laufu]+du[laufu];
                    IF MV_Pred[laufu]>MVHiLim[laufu] THEN
                        MV_Pred[laufu]:=MVHiLim[laufu];
                    ELSIF MV_Pred[laufu]<MVLoLim[laufu] THEN
                        MV_Pred[laufu]:=MVLoLim[laufu];
                    END_IF;
                END_FOR;
            END_IF;   
        ELSE       



predict

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