This example shows how to simulate and generate Structured Text for an MPC Controller block using Simulink® PLC Coder™ software. The generated code uses single-precision.
To run this example, Simulink and Simulink PLC Coder are required.
if ~mpcchecktoolboxinstalled('simulink') disp('Simulink is required to run this example.') return end if ~mpcchecktoolboxinstalled('plccoder') disp('Simulink PLC Coder is required to run this example.'); return end
You must have write-permission to generate the relevant files and the executable. Therefore, before starting simulation and code generation, change the current directory to a temporary directory.
cwd = pwd; tmpdir = tempname; mkdir(tmpdir); cd(tmpdir);
Define a SISO plant.
plant = ss(tf([3 1],[1 0.6 1]));
Define the MPC controller for the plant.
Ts = 0.1; %Sample time p = 10; %Prediction horizon m = 2; %Control horizon Weights = struct('MV',0,'MVRate',0.01,'OV',1); % Weights MV = struct('Min',-Inf,'Max',Inf,'RateMin',-100,'RateMax',100); % Input constraints OV = struct('Min',-2,'Max',2); % Output constraints mpcobj = mpc(plant,Ts,p,m,Weights,MV,OV);
Open the Simulink model.
mdl = 'mpc_plcdemo'; open_system(mdl)
To generate structured text for the MPC Controller block, complete the following two steps:
Configure the MPC block to use single-precision data. Set the Output data type property of the MPC Controller block to
open_system([mdl '/Control System/MPC Controller'])
Put the MPC block inside a subsystem block and treat the subsystem block as an atomic unit. Select the Treat as atomic unit property of the subsystem block.
Simulate the model in Simulink.
close_system([mdl '/Control System/MPC Controller']) open_system([mdl '/Outputs//References']) open_system([mdl '/Inputs']) sim(mdl)
-->Converting model to discrete time. -->Assuming output disturbance added to measured output channel #1 is integrated white noise. -->The "Model.Noise" property of the "mpc" object is empty. Assuming white noise on each measured output channel.
To generate code with the PLC Coder, use the
disp('Generating PLC structure text... Please wait until it finishes.') plcgeneratecode([mdl '/Control System']);
Generating PLC structure text... Please wait until it finishes. PLC code generation successful for 'mpc_plcdemo/Control System'. Generated files: <a href="matlab: edit('plcsrc/mpc_plcdemo.exp')">plcsrc/mpc_plcdemo.exp</a>
The Message Viewer dialog box shows that PLC code generation was successful.
Close the Simulink model, and return to the original directory.