Predictive Motor Speed Control for an Industrial Robot. A Dead-Beat Approach

Abstract

AbstractThis paper presents the design of a predictive speed control structure, for a Direct-Current Motor that drives the forward and backward movement of an industrial manipulator. The described manipulator performs discharging actions to extract preheated round billets from inside the rotary hearth furnace and continue the hot rolling process. The mathematical model of the DC motor is obtained as a continuous transfer function, and all the necessary components of the control structure are modelled along with the driving motor. The paper focuses on the Dead-beat algorithm since such a method generates a predictive control structure quite effortless, requiring a second order system without time delay for the technological process to be controlled. Such a form is easily obtained for de DC motor assembly, thus the predictive control structure yields, having two controllers: a direct path controller and a feedback path controller. The designed control structure follows the assumption that the future value of the output signal (the motor’s speed) equals the value of the prescribed reference signal. The proposed control structure is validated via simulation, using MATLAB computer software, using both the reduced mathematical model and the extended implementation for the technological process to be controlled, namely the speed of the DC motor that drives the discharging manipulator.KeywordsIndustrial manipulatorDead-beat methodDiscrete controlMotor speedPredictive controlComputer simulation