Lu Shaowu, Zhou Fengxing, Ma Yajie, Tang Xiaoqi
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.
School of Information Science and Engineering, Wuhan University of Science and Technology, Heping Road, Wuhan, China.
ISA Trans. 2016 Jul;63:211-217. doi: 10.1016/j.isatra.2016.02.010. Epub 2016 Feb 23.
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.
位置控制是线性伺服系统的典型应用。本文中，为了降低系统超调量，在位置控制实现中采用了积分加比例（IP）控制器。为了进一步提高控制性能，提出了一种基于广义预测控制（GPC）律的增益调整IP控制器。首先，为了描述位置环的动态特性，使用了二阶线性模型，并通过递归最小二乘法在线估计其模型参数。其次，基于GPC律，通过滚动时域获得最优控制序列，然后在实际操作中直接为IP控制器提供相应的控制参数。最后，给出了仿真和实验结果，以证明所提方案的有效性。
