Robust model predictive control and observer for direct drive applications

Author

Low, Kay-Soon ; Zhuang, Hualiang

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

Volume

15

Issue

6

fYear

2000

fDate

11/1/2000 12:00:00 AM

Firstpage

1018

Lastpage

1028

Abstract

In this paper, robust position control of a direct drive using a state space model predictive control (MPC) algorithm is presented. The proposed controller consists of a state feedback regulator and a feedforward controller. Their gains are obtained by minimizing a cost function that is a sum of the position tracking errors and the control cost over some user defined time horizons. The effects of the controller parameters on the dynamic performance and the robustness of the direct drive are investigated. To provide good estimates of the state variables in the presence of load disturbance, a new observer based on the receding horizon concept is also formulated. Experimental results are presented to demonstrate the effectiveness of the approach

Keywords

DC motor drives; brushless DC motors; control system synthesis; feedback; feedforward; machine control; motor drives; observers; position control; predictive control; robust control; control cost; controller parameters effects; cost function minimisation; direct drive applications; dynamic performance; feedforward controller; load disturbance; observer; position tracking errors; robust model predictive control; robust position control; robustness; state feedback regulator; state space model predictive control; state variables; user defined time horizons; Cost function; Error correction; Position control; Prediction algorithms; Predictive control; Predictive models; Regulators; Robust control; State feedback; State-space methods;

fLanguage

English

Journal_Title

Power Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0885-8993

Type

jour

DOI

10.1109/63.892816

Filename

892816