Conference article

Using Functional Mock-up Units for Nonlinear Model Predictive Control

Manuel Gräber
Technische Universität Braunschweig, Braunschweig, Germany

Christian Kirches
Interdisciplinary Center for Scientific Computing (IWR), Heidelberg University, Germany

Dirk Scharff
TLK-Thermo GmbH, Braunschweig, Germany

Wilhelm Tegethoff
Technische Universität Braunschweig, Braunschweig/TLK-Thermo GmbH, Braunschweig, Germany

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Published in: Proceedings of the 9th International MODELICA Conference; September 3-5; 2012; Munich; Germany

Linköping Electronic Conference Proceedings 76:80, p. 781-790

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Published: 2012-11-19

ISBN: 978-91-7519-826-2

ISSN: 1650-3686 (print), 1650-3740 (online)


Based on the standardized model exchange format Functional Mock-up Interface (FMI) an software framework is presented for prototyping of nonlinear model predictive control (NMPC) loops. Arising optimal control problems are solved by an efficient implementation of the direct multiple shooting method; which is especially suitable for nonlinear and stiff system models. Using co-simulation optimizer; plant and estimator can be coupled to a closed NMPC loop. Several stages of a control design process are supported: from virtual simulation experiments to real plants with prototype NMPC controllers. Energy efficient control of vapor compression cycles is presented as example application of the proposed methods.


FMI; Direct Multiple Shooting; Vapor Compression Cycle; Optimal Control


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