Output constrained IMC controllers in control systems of electromechanical actuators  

作　　者：Piotr M.MARUSAK Suwat KUNTANAPREEDA 

机构地区：[1]Institute of Control and Computation Engineering,Warsaw University of Technology [2]Faculty of Engineering,King Mongkut's University of Technology North Bangkok

出　　处：《Control Theory and Technology》2015年第3期245-255,共11页控制理论与技术（英文版）

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.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 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U270.3[自动化与计算机技术—控制科学与工程]