Research on DC Motor Control Based on Predictive PI Algorithm

Abstract

In minimally invasive surgery, manual manipulation of the catheter is inaccurate which requires the worker to manipulate the catheter flexibly and effectively and exposes the surgeon to intense radiation. The author’s goal was to develop a robotic catheter operating system that would be hand-accurate on behalf of the surgeon. With the increasing demand for flexibility and rapid response to control systems, predictive PI control can play an important role. We proposed a practical application which is based on predictive PI control to the remote operation of this development system. And compare with the traditional PID control method for simulation. Demonstrate the feasibility and effectiveness of the control method. In this remote operation, in the synchronous control performance, use predictive PI control is much better than control using traditional PID control.