大惯量随动系统解析模型预测控制

为了提高时变负载大惯量随动系统的响应速度以及控制精度,将解析模型预测控制运用到负载系统的控制策略中.建立了大惯量随动系统负载的动力学模型,并考虑系统性能指标、能量输入功率和制动功率等约束条件,通过双无迹卡尔曼观测器对负载惯量扰动进行实时观测,实现了大惯量随动系统的解析模型预测控制.仿真试验结果表明,包含了约束条件的解析模型预测控制,减小了大惯量随动系统的响应时间,提高了控制精度,达到了预期的控制效果.

Explicit Model Predictive Control for Large Inertia Servo System

This paper aims at improving the dynamic response and control precision of large inertia servo system with time-varying loading disturbance by using the scheme of explicit model prediction control (EMPC). The dynamic model of the large inertia servo system was directly established, the loading disturbance was observed by the dual unscented Kalman filter (DUKF) and the constraints such as system performance, input and braking power were considered. Thus, the EMPC control strategy was realized. The experimental results show that the response time is reduced with satisfactory control precision and the expected performance has been achieved.