A Repetitive Model Predictive Control Approach for Precision Tracking of a Linear Motion System

被引:68
作者
Cao, Runzi [1 ,2 ]
Low, Kay-Soon [1 ]
机构
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
[2] Fugro Subsea Technol Pte Ltd, Singapore 575625, Singapore
关键词
Finite impulse response; friction compensation; linear motor; model predictive control (MPC); repetitive control; FRICTION COMPENSATION; INDUCTION-MOTOR; INVERTER; OBSERVER;
D O I
10.1109/TIE.2008.2007034
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a new model predictive control (MPC) approach suitable for high precision linear motion drive operating with repetitive tracking tasks is presented. For the proposed predictive controller, the feedforward controller of the conventional MPC has been modified to provide zero-phase learning property. This is achieved by augmenting the reference trajectory with a phase-compensated term that is updated with the historical tracking error. The proposed approach attempts to combine the merits of both the conventional MPC and repetitive control schemes. Experimental results have demonstrated that the system effectively reduces the tracking error from the periodic disturbance caused by the friction. Its performance under varying reference conditions and different loadings shows that the system is robust.
引用
收藏
页码:1955 / 1962
页数:8
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