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I have a communication problem in my NMPC controller.

2 次查看（过去 30 天）
Sebastian
Sebastian 2023-7-13
评论： Emmanouil Tzorakoleftherakis 2023-7-17
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Start of Error Report
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Unable to perform assignment because the left and right sides have a different number of elements.
Error in znlmpc_objfun>quadraticObjective (line 141)
gfx(ix) = gfx(ix) + Ck'*wtYerr;
Error in znlmpc_objfun (line 28)
[fs, gfX, gfU, gfE] = quadraticObjective(coredata, runtimedata, handles, X, U, e, computeJacobian);
Error in nlmpc/nlmpcmove>@(z)znlmpc_objfun(z(:),coredata,runtimedata,userdata,handles) (line 144)
CostFcn = @(z) znlmpc_objfun(z(:), coredata, runtimedata, userdata, handles);
Error in fmincon (line 577)
[initVals.f,initVals.g] = feval(funfcn{3},X,varargin{:});
Error in nlmpc/nlmpcmove (line 174)
[z, cost, ExitFlag, Out] = fmincon(CostFcn, z0, A, B, [], [], zLB, zUB, ConFcn, fminconOpt);
Error in nmpcblock_interface (line 163)
[mv, ~, Info] = nlmpcmove(nlobj, x, lastmv, ref, md, Options);
Error in LiveEditorEvaluationHelperE435316053 (line 85)
sim(mdl)
Caused by:
Failure in initial objective function evaluation. FMINCON cannot continue.
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End of Error Report
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Error occurred when calling NLP solver "fmincon". See the error report displayed above.
Error in nmpcblock_interface.m (line 165)
throw(ME)
Error in PEMFC_1_NMPC_Workspace.mlx (line 85)
Error in 'PEMFC_1_NMPC_Controller/Nonlinear MPC Controller1/MPC/NLMPC' (line 24)
Taht is my code:
addpath('C:\Users\grums\OneDrive\Dokumente\MATLAB\PEMFC\Bachelor\PEMFC');
mdl = "PEMFC_1_NMPC_Controller";
open_system(mdl)
% NMPC Objekt mit 2 Zustands-, 2 Ausgangs-, 2 Stellgröße und
% 0 Störgröße (werden in meiner Simulation nicht berücksichtigt)
nlobj=nlmpc(4,4,'MV',[1 2 3 4 ]);
% Abtastzeit und Horizontlängen
PredictionHorizon=10; % Regelhorizont
ControlHorizon=3; % Steuerhorizont
Ts=0.1;
nlobj.Ts=Ts;
nlobj.PredictionHorizon=PredictionHorizon;
nlobj.ControlHorizon=ControlHorizon;
% Definition Prädiktionsgleichungen und Namen der
%Zustandsgrößen
nlobj.Model.StateFcn ='PEMFCStateFcn';
nlobj.States(1).Name='FuelFr_state';
nlobj.States(2).Name='AirFr_state';
nlobj.States(3).Name='Ifc_state';
nlobj.States(4).Name='Tfc_state';
%nlobj.States(3).Name='Current';
nlobj.States(1).Min= 51; % Anfangswert für den ersten Zustand
nlobj.States(2).Min= 51; % Anfangswert für den zweiten Zustand
nlobj.States(1).Max= 1460; % Endswert für den ersten Zustand
nlobj.States(2).Max= 7350; % Endwert für den zweiten Zustand
%Definition Ausgangsgleichung, Name der Regelgröße,
nlobj.Model.OutputFcn='OutputFcn';
nlobj.OutputVariables(1).Name='FuelFr_out';
nlobj.OutputVariables(2).Name='AirFr_out';
nlobj.OutputVariables(3).Name='T_out';
nlobj.OutputVariables(4).Name='Pfuel_out';
%nlobj.OutputVariables(5).Name='Pair_out';
%MV
nlobj.MV(1).Name='u1';
nlobj.MV(2).Name='u2';
nlobj.MV(3).Name='u3';
nlobj.MV(4).Name='u4';
%nlobj.MV(5).Name='u5';
%nlobj.MV(1).Min = 50; % Minimum Volumenstrom H2 [l/m]
%nlobj.MV(1).Max = 1460; % Maximum Volumenstrom H2 [l/m]
%nlobj.MV(2).Min = 1000; % Minimum Volumenstrom O2 [l/m]
%nlobj.MV(2).Max = 7350; % Maximum Volumenstrom O2 [l/m]
%nlobj.MV(3).Min = 330; % Minimum Volumenstrom H2 [l/m]
%nlobj.MV(3).Max = 345; % Maximum Volumenstrom H2 [l/m]
%nlobj.MV(4).Min = 1; % Minimum Volumenstrom O2 [l/m]
%nlobj.MV(4).Max = 2; % Maximum Volumenstrom O2 [l/m]
%nlobj.MV(5).Min = 0.1; % Minimum Volumenstrom H2 [l/m]
%nlobj.MV(5).Max = 2; % Maximum Volumenstrom H2 [l/m]
sim(mdl)
  1 个评论
Emmanouil Tzorakoleftherakis
Emmanouil Tzorakoleftherakis 2023-7-17
Are you using a custom cost function or the default quadratic one? That's where the error seems to originate from

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