Model Predictive Control of Positional Tracking Electromechanical Systems

Abstract

The paper presents the results of synthesis of motion controllers of positional tracking and positional trajectory electromechanical control systems that provide generation of optimal finite control of a mechanism’s working parts taking into account unpredictability of temporal task changes given by the operator or external automatic control subsystem. The paper proposes an approach to the synthesis of microprocessor motion controllers based on the application of the methodology of model forecasting and finite control. Unlike known solutions, the proposed approach does not require a program temporal prescription of motion parameters (position, velocity, acceleration, and, in the general case, jerk) and prescription of multiple temporal parameters. This significantly simplifies parametrization of controllers, being a factor of their intellectualization and allowing limiting only the phase variables and minimally acceptable period of discrete control. It is shown that such motion controllers can also provide partial invariance of electromechanical systems to variation in external excitations. The functional structures of the positioning and tracking system and of the motion controller are presented. Simulation results that confirm the efficiency of the proposed approach are demonstrated.