Constrained Model Predictive Control on a Programmable Automation System Exploiting Code Generation: Practical Considerations

摘要

This paper examines the use of code generators for Model Predictive Control (MPC) on a Programmable Automation Controller (PAC). Recently, a strong interest has been observed in code generators able to produce dedicated code for solving optimization problems on embedded devices. This interest has consecutively raised questions about usability, flexibility and user-friendliness of these code generators in more standard industrial hardware or lab equipment. To this end, the current paper investigates as a benchmark example the constrained model predictive control of a real-life Two Input - Single Output hair dryer system that is controlled with a CompactRIO controller (National Instruments). The aim is to provide practical information throughout the description of the entire development process (i.e., from model identification over code generation to MPC implementation and validation). Hence, advantages as well as possible limitations and pitfalls are explored.