eduardo - MPC successful in industry. Control Predictivo:...

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1 Control Control Predictivo Predictivo : : pasado, presente y futuro pasado, presente y futuro Eduardo F. Camacho Universidad de Sevilla JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 2 MPC successful in industry . ± Many and very diverse and successful applications: ² Refining, petrochemical, polymers, ² Semiconductor production scheduling, ² Air traffic control ² Clinical anesthesia, ² …. ² Life Extending of Boiler-Turbine Systems via Model Predictive Methods, Li et al (2004) ± Many MPC vendors. JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 3 MPC successful in Academia ² Many MPC sessions in control conferences and control journals, MPC workshops. ² 4/8 finalist papers for the CEP best paper award were MPC papers (2/3 finally awarded were MPC papers) JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 4 Why is MPC so successful ? ± MPC is Most general way of posing the control problem in the time domain: ² Optimal control ² Stochastic control ² Known references ² Measurable disturbances ² Multivariable ² Dead time ² Constraints ² Uncertainties JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 5 t t+1 t+2 t+N t t+1 t+2 ……. . t+N u(t) Only the first control move is applied Errors minimized over a finite horizon Constraints taken into account Model of process used for predicting JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 6 t+2 t+1 t+N t+N+1 t t+1 t+2 ……. . t+N t+N+1 u(t) Only the first control move is applied again
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JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 7 MPC PID: u(t)=u(t-1)+g 0 e(t) + g 1 e(t-1) + g 2 e(t-2) vs. PID JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 8 Real reason of success: Economics ± MPC can be used to optimize operating points (economic objectives). Optimum usually at the intersection of a set of constraints. ± Obtaining smaller variance and taking constraints into account allow to operate closer to constraints (and optimum). ± Repsol reported 2-6 months payback periods for new MPC applications. P1 P2 Pmax JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 9 Flash Línea 2 Línea 1 Lavado Contacto 1 Contacto 3 Contacto 2 ESQUEMA GENERAL CIRCUITO DE GASES JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 10 -5 -4 -3 -2 -1 0 1 2 1 100 199 298 397 496 595 694 793 892 Serie1 JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 11 Guión ± Un poco de historia ± MPC: conceptos fundamentales ± MPC nolineal ² Modelado ² Identificación y estimación de estado ² Estabilidad y robustez ² Implementación ± Algunas aplicaciones ± Conclusiones JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 12 A little bit of history: the beginning ± Kalman, LQG (1960) ± Propoi, “Use of LP methods . ..” (1963) ± Richalet et al , Model Predictive Heuristic Control (MPHC) IDCOM (1976, 1978) ( 150.000 $/year benefits because of increased flowrate in the fractionator application) ± Cutler & Ramaker, DMC (1979,1980) ± Cutler et al QDMC (QP+DMC) (1983) ± Clarke et al GPC (1987) ± First book: Bitmead et al , (1990)
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JJAA Almeria'06 Eduardo F. Camacho Control Predictivo 13 The impulse of the 90s. A renewed
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eduardo - MPC successful in industry. Control Predictivo:...

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