To realize model prediction control where desired responsiveness is provided with few calculation loads by dividing controlled variable into the one with quick change and the one with slow change and executing the thinning of a prediction time concerning the latter so as to incorporate it in an evaluation function.
The manipulate variable of a controlled object 1 is adopted as u1 and u2 and its controlled variable is as yF and yS. High-speed response is required in yF but convergence is executed to a set value by slow response in yS. A controlled variable predicting means 2 calculates the past values of yF and yS and the prediction value pre-fixed portions yF*' and yS*' of yF and yS based on the past values of change quantities ≥u1 and Δu2 in manipulated variable. The dimension of yF' is the number of sampling times within a prediction section. Since yS' is thinned, its dimension becomes aboust 1/K as compared with a case without thinning. A manipulated variable change quantity optimizing means 3 substitutes the obtained prediction value pre-fixed portions of yF and yS for the evaluation function so as to obtain the future values of the manipulated variable change quantities by applying a min. square method algorithm.
MURAKAMI MASAYA
SUGANO TOMOJI
FUJI FACOM CORP