I have a communication problem in my NMPC controller.

Question

Sebastian 2023-7-13

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1995738-i-have-a-communication-problem-in-my-nmpc-controller

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)

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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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I have a communication problem in my NMPC controller.

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I have a communication problem in my NMPC controller.

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