关键词: 多阶模型预测控制, 有限元正交配置, radau, 聚合反应, 半间歇

Abstract: In view of the strong nonlinearity, the uncertainties of model and the existence of path constraints and terminal constraints, a multi-stage nonlinear model predictive control method is applied to the design of the batch polymerization reaction controller. The method uses a tree of discrete scenarios to represent the effect of uncertainties on the system, which means the future control input depends on the realization of the previous uncertainty, so as to form a robust closed-loop control method. In order to improve the efficiency, simultaneous method based on orthogonal collocation on finite element is used to solve the dynamic optimization problem. Selecting appropriate radau configuration points to discretize the control variables and the state variables simultaneously, the dynamic optimization problem is transformed into NLP problem, which is solved by internal point solver IPOPT. The validity of the proposed method is verified by the semi-batch reaction model provided by BASF SE.

Key words: multi-stage Nonlinear Model Predictive Control（NMPC）, Orthogonal Collocation on Finite Element（OCFE）, radau, polymerization reaction, semi-batch