位置跟踪系统的预测控制研究

Study on the Predictive Control of Position Tracking Systems

在位置跟踪系统中 ,希望系统输出能快速、准确地跟随输入而变化。首先采用阶跃响应法建立了控制对象的数学模型。然后将预测控制的思想用于位置跟踪系统的控制 ,提出了位置控制器的一种设计方法 ,对有关设计参数的选择进行了讨论。并针对一快速成形系统的 X轴永磁同步伺服电机的控制进行了仿真和实时控制实验研究。结果表明 ,所设计的控制器具有很好的跟踪性能和鲁棒性能。

To improve the tracking performance of a position tracking system, the plant is modeled by using the step response method. Then, the ideas of predictive control are used to the control of position tracking system, a new design method for the position tracking controller is proposed and method of controller parameter selection is discussed. The simulation and the experiment of real-time control are carried out for the X-axis permanent magnet synchronous motor in a rapid prototyping system. It is shown by the results that the designed controller has perfect tracking ability and satisfactory robustness.