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Design Neural Network Predictive Controller in Simulink

Design Neural Network Predictive Controller in Simulink

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246 views9 pages

Design Neural Network Predictive Controller in Simulink

Design Neural Network Predictive Controller in Simulink

Uploaded by

rakheep123
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Design Neural Network Predictive Controller in Simulink

The neural network predictive controller that is implemented in the Deep Learning Toolbox™
software uses a neural network model of a nonlinear plant to predict future plant performance.
The controller then calculates the control input that will optimize plant performance over a
specified future time horizon. The first step in model predictive control is to determine the
neural network plant model (system identification). Next, the plant model is used by the
controller to predict future performance. (See the Model Predictive Control Toolbox™
documentation for complete coverage of the application of various model predictive control
strategies to linear systems.)

The following section describes the system identification process. This is followed by a
description of the optimization process. Finally, it discusses how to use the model predictive
controller block that is implemented in the Simulink® environment.

System Identification

The first stage of model predictive control is to train a neural network to represent the forward
dynamics of the plant. The prediction error between the plant output and the neural network
output is used as the neural network training signal. The process is represented by the following
figure:

The neural network plant model uses previous inputs and previous plant outputs to predict
future values of the plant output. The structure of the neural network plant model is given in
the following figure.
This network can be trained offline in batch mode, using data collected from the operation of
the plant. You can use any of the training algorithms discussed in Multilayer Shallow Neural
Networks and Backpropagation Training for network training. This process is discussed in
more detail in following sections.

Predictive Control

The model predictive control method is based on the receding horizon technique [SoHa96].
The neural network model predicts the plant response over a specified time horizon. The
predictions are used by a numerical optimization program to determine the control signal that
minimizes the following performance criterion over the specified horizon

 
1(yr(t+j)−ym(t+j)) +ρ (u′(t+j−1)−u′(t+j−2))
2 2
J= 2 u
N j=N N j=1

where N1, N2, and Nu define the horizons over which the tracking error and the control
increments are evaluated. The u′ variable is the tentative control signal, yr is the desired
response, and ym is the network model response. The ρ value determines the contribution that
the sum of the squares of the control increments has on the performance index.

The following block diagram illustrates the model predictive control process. The controller
consists of the neural network plant model and the optimization block. The optimization block
determines the values of u′ that minimize J, and then the optimal u is input to the plant. The
controller block is implemented in Simulink, as described in the following section.

Use the Neural Network Predictive Controller Block

This section shows how the NN Predictive Controller block is used. The first step is to copy
the NN Predictive Controller block from the Deep Learning Toolbox block library to the
Simulink Editor. See the Simulink documentation if you are not sure how to do this. This step
is skipped in the following example.

An example model is provided with the Deep Learning Toolbox software to show the use of
the predictive controller. This example uses a catalytic Continuous Stirred Tank Reactor
(CSTR). A diagram of the process is shown in the following figure.
The dynamic model of the system is

=w1(t)+w2(t)−0.2Gh(t) =(Cb1−Cb(t)) +(Cb2−Cb(t)) −


dh(t)dt dCb(t)dt w1(t)h(t) w2(t)h(t) k1Cb(t)(1+k2Cb(t
2
))

where h(t) is the liquid level, Cb(t) is the product concentration at the output of the process,
w1(t) is the flow rate of the concentrated feed Cb1, and w2(t) is the flow rate of the diluted feed
Cb2. The input concentrations are set to Cb1 = 24.9 and Cb2 = 0.1. The constants associated with
the rate of consumption are k1 = 1 and k2 = 1.

The objective of the controller is to maintain the product concentration by adjusting the flow
w1(t). To simplify the example, set w2(t) = 0.1. The level of the tank h(t) is not controlled for
this experiment.

To run this example:

1. Start MATLAB®.
2. Type predcstr in the MATLAB Command Window. This command opens the
Simulink Editor with the following model.
The Plant block contains the Simulink CSTR plant model. The NN Predictive
Controller block signals are connected as follows:

o Control Signal is connected to the input of the Plant model.


o The Plant Output signal is connected to the Plant block output.
o The Reference is connected to the Random Reference signal.
3. Double-click the NN Predictive Controller block. This opens the following window for
designing the model predictive controller. This window enables you to change the
controller horizons N2 and Nu. (N1 is fixed at 1.) The weighting parameter ρ, described
earlier, is also defined in this window. The parameter α is used to control the
optimization. It determines how much reduction in performance is required for a
successful optimization step. You can select which linear minimization routine is used
by the optimization algorithm, and you can decide how many iterations of the
optimization algorithm are performed at each sample time. The linear minimization
routines are slight modifications of those discussed in Multilayer Shallow Neural
Networks and Backpropagation Training.
4. Select Plant Identification. This opens the following window. You must develop the
neural network plant model before you can use the controller. The plant model predicts
future plant outputs. The optimization algorithm uses these predictions to determine the
control inputs that optimize future performance. The plant model neural network has
one hidden layer, as shown earlier. You select the size of that layer, the number of
delayed inputs and delayed outputs, and the training function in this window. You can
select any of the training functions described in Multilayer Shallow Neural Networks
and Backpropagation Training to train the neural network plant model.
5. Click Generate Training Data. The program generates training data by applying a
series of random step inputs to the Simulink plant model. The potential training data is
then displayed in a figure similar to the following.
6. Click Accept Data, and then click Train Network in the Plant Identification window.
Plant model training begins. The training proceeds according to the training algorithm
(trainlm in this case) you selected. This is a straightforward application of batch
training, as described in Multilayer Shallow Neural Networks and Backpropagation
Training. After the training is complete, the response of the resulting plant model is
displayed, as in the following figure. (There are also separate plots for validation and
testing data, if they exist.)
You can then continue training with the same data set by selecting Train Network
again, you can Erase Generated Data and generate a new data set, or you can accept
the current plant model and begin simulating the closed loop system. For this example,
begin the simulation, as shown in the following steps.

7. Select OK in the Plant Identification window. This loads the trained neural network
plant model into the NN Predictive Controller block.
8. Select OK in the Neural Network Predictive Control window. This loads the controller
parameters into the NN Predictive Controller block.
9. Return to the Simulink Editor and start the simulation by choosing the menu option
Simulation > Run. As the simulation runs, the plant output and the reference signal are
displayed, as in the following figure.

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