| 摘要 |
Summary The invention is about a programmable logic controller (PLC), configured to be coupled to an input field device and an output field device of a regulated technical installation, said PLC comprising
- a processor,
- a computer-readable memory,
- an input device that receives measurements of a controlled parameter (y) of the installation from the input field device,
- a control program, which is stored on a computer-readable memory and which, when executed on the processor, uses the measurement of the controlled parameter (y) to produce in real time a control output (u),
- an output device for submitting control output (u) to the output field device for influencing the controlled parameter (y), wherein the control program further comprises
- a dynamic model of the installation given through differential equations in state space form, which is stored in a computer-readable memory;
- a cost function J(x, u, t, t N ), which is stored in a computer-readable memory, mapping the state (x) of the installation model and the control output (u) onto a cost number, said cost number being associated with a predetermined target of an optimal control problem related to the technical installation,
- a finite horizon optimization control program, using a numerical minimization algorithm, which is stored in a computer-readable memory and which, when executed on the processor, minimizes the cost function over a short, fixed time horizon of a small number of N steps in the future,
wherein the control program further uses the minimized cost function to produce in real time the control output (u), and wherein the finite horizon optimization control program is configured to partition the optimal control problem in to a sparse static optimization problem at each of the N time steps. |
