Robust model predictive control and observer for direct drive applications

Citation
Ks. Low et Hl. Zhuang, Robust model predictive control and observer for direct drive applications, IEEE POW E, 15(6), 2000, pp. 1018-1028
Citations number
11
Language
INGLESE
art.tipo
Article
Categorie Soggetti
Eletrical & Eletronics Engineeing
Journal title
IEEE TRANSACTIONS ON POWER ELECTRONICS
ISSN journal
0885-8993 → ACNP
Volume
15
Issue
6
Year of publication
2000
Pages
1018 - 1028
Database
ISI
SICI code
0885-8993(200011)15:6<1018:RMPCAO>2.0.ZU;2-C
Abstract
In this paper, robust position control of a direct drive using a state spac e model predictive control (MPC) algorithm is presented. The proposed contr oller 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 performan ce and the robustness of the direct drive are investigated. To provide good estimates of the state variables in the presence of load disturbance, a ne w observer based on the receding horizon concept is also formulated. Experi mental results are presented to demonstrate the effectiveness of the approa ch.