Predictive IP controller for robust position control of linear servo system

Shaowu Lu; Fengxing Zhou; Yajie Ma; Xiaoqi Tang

doi:10.1016/j.isatra.2016.02.010

Predictive IP controller for robust position control of linear servo system

ISA Trans. 2016 Jul:63:211-217. doi: 10.1016/j.isatra.2016.02.010. Epub 2016 Feb 23.

Authors

Shaowu Lu¹, Fengxing Zhou², Yajie Ma², Xiaoqi Tang³

Affiliations

¹ School of Information Science and Engineering, Wuhan University of Science and Technology, Heping Road, Wuhan, China; School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Luoyu Road, Wuhan, China. Electronic address: guoting518@163.com.
² School of Information Science and Engineering, Wuhan University of Science and Technology, Heping Road, Wuhan, China.
³ School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Luoyu Road, Wuhan, China.

PMID: 26920087
DOI: 10.1016/j.isatra.2016.02.010

Abstract

Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme.

Keywords: Generalized predictive control; Integral plus proportional; Permanent magnet synchronous linear motor; Position control.