Model Predictive Control of DC Servomotor using Active Set Method

Author

Naik, Vihangkumar V. ; Sonawane, D.N. ; Ingole, Deepak D. ; Ginoya, Divyesh

Author_Institution

Dept. of Instrum. & Control Eng., Coll. of Eng., Pune (COEP), Pune, India

fYear

2013

fDate

28-30 Aug. 2013

Firstpage

820

Lastpage

825

Abstract

This paper presents the design and real-time hardware implementation of Active Set Method (ASM) based Linear Model Predictive Controller (MPC) for position control of DC Servomotor. A key component of MPC is to solve an online convex Quadratic Programming (QP) optimization problem at each sampling instance within specified sample period. In view of ASM, Cholesky factorization based linear solver is used to solve the KKT system, which renders faster execution of MPC. The designed approach is demonstrated for real-time MPC implementation on Quanser QET DC Servomotor setup.

Keywords

DC motors; control system synthesis; convex programming; linear systems; machine control; position control; predictive control; quadratic programming; servomotors; ASM based linear model predictive controller; Cholesky factorization based linear solver; KKT system; MPC execution; QP optimization problem; Quanser QET DC servomotor setup; active set method; control design; linear MPC; online convex quadratic programming; position control; real-time hardware implementation; sample period; sampling instance; Equations; Mathematical model; Optimization; Predictive control; Predictive models; Servomotors; Shafts;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2013 IEEE International Conference on

Conference_Location

Hyderabad

ISSN

1085-1992

Type

conf

DOI

10.1109/CCA.2013.6662851

Filename

6662851