| 摘要: |
| Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators: a DC motor and an electrohydraulic actuator. |
| 关键词: Constrained control, internal model control (IMC), model predictive control (MPC), electromechanical actuators |
| DOI： |
| Received:April 09, 2014Revised:March 02, 2015 |
| 基金项目: |
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| Output constrained IMC controllers in control systems of electromechanical actuators |
| P. M. Marusak,S. Kuntanapreeda |
| (Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland;Faculty of Engineering, King Mongkut's University of Technology North Bangkok, Bangsue, Bangkok 10800, Thailand) |
| Abstract: |
| Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators: a DC motor and an electrohydraulic actuator. |
| Key words: Constrained control, internal model control (IMC), model predictive control (MPC), electromechanical actuators |
