Establishment Of Experimental Platform And Research Of Experimental Methods For Explicit Model Predictive Control

Explicit model predictive control (EMPC) overcomes the shortcoming of traditional Model Predictive Control (MPC) of its complex computation, which its complicated problem of optimization will be done in off-line computation process, and on-line computation becomes simple Look-up Table computation. Now, most of the research of EMPC algorithm is theory simulation research, so there will be great meaning for researching EMPC algorithm of its hardware-in-the-loop (HIL) simulation and control system in actual environment.The contents of paper include two aspects. The first aspect is building a HIL simulation system of EMPC algorithm based on xPC target. The paper first discusses some feasibility schemes of using M language algorithm to realize xPC target HIL simulation. After that, the paper builds a HIL simulation platform of EMPC algorithm based on xPC technology. The second aspect is building a control system of EMPC algorithm in actual environment. The paper would analyze the system state regions which calculated by off-line computation process first, then generate C code to realize the process of on-line computation of EMPC algorithm, and at last, builds a control system of EMPC algorithm in actual environment. At last of the paper, the method of data searching of on-line computation of EMPC algorithm will be presented in detail and some further improvements of the goal which is to reduce the time complexity of data searching are also discussed.In this paper, the principal tasks as follows:1. After studied a great deal of related literatures, the principal of EMPC algorithm and the current situation of research, including HIL simulation and control system in actual environment. were summarized.2. Delved the data structure of state regions and these explicit linear relationships which calculated from the off-line computation of EMPC algorithm, and build one HIL simulation of EMPC algorithm based on xPC technology.3. Designed a controller of EMPC algorithm by C language, which in accordance with the special characteristic of on-line computation of EMPC algorithm, to build a new control system in actual environment.4. Delved the on-line computation process of EMPC algorithm, and submitted three further improvements to reduce the time complexity of data searching.5. Summarized the research, and point out the research contents in the future.