Title :
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
fDate :
11/1/2000 12:00:00 AM
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;
Journal_Title :
Power Electronics, IEEE Transactions on
