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João Pedro Brunoni
Universidade Federal de Santa Catarina, Florianópolis, Santa Catarina
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Vinícius Berndsen Peccin
Instituto Federal de Santa Catarina, Chapecó, Santa Catarina
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Rodolfo César Costa Flesch
Universidade Federal de Santa Catarina, Florianópolis, Santa Catarina
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Julio Elias Normey-Rico
Universidade Federal de Santa Catarina, Florianópolis, Santa Catarina
Keywords:
Predictive control, Advanced control, Optimized GPC algorithms, Execution Time, Microcontroller
Abstract
Recent advances in algorithms and embedded systems have created possibilities to meet the demand for advanced controllers in processes with fast dynamics. In general, advanced controllers are very costly from a computational point of view and end up being used in processes with slow dynamics or need to be implemented in sophisticated computers. The implementation of advanced controllers in low-cost embedded systems, such as microcontrollers, can contribute to the use of these techniques in a greater number of processes. This paper provides a proposal of implementation of a generalized predictive control algorithm of fast computation with constraints in a microcontroller platform. Issues of automatic code generation and the improvement of the control signal computation time and required memory space are evaluated. The implemented controller was experimentally simulated and tested in a case study of a multivariable system with first order transfer functions. The computation time obtained was about 1,2 ms.
