|
|
 |
| |
|
|
|
High Speed Motion Control System With Predictive Observer and Its Parameters Optimization |
|
|
|
PP: 777-787 |
|
|
|
Author(s) |
|
|
|
Lei Zhou,
Jiangang Li,
Zexiang Li,
Lanhui Fu,
|
|
|
|
Abstract |
|
|
| The traditional control of high speed motion control system usually employs feedforward control to provide phase advance.
In this paper, we proposed a predictive observer to compensate phase lags in the feedback loop. By employing the observer, the velocity
and the position controller can be designed as for a plant does not have phase lag elements. Then, loop gains can be enlarged and motion
speed can be improved. There are two sets of parameters need to be set, the controller’s and the observer’s. We applied least square
algorithm for model estimation and simplex method for controller auto tuning. The algorithms were tested in simulations. The results
show that the motion performance is extremely improved by the predictive observer. The accuracy of the estimated model has errors
less than 2.5%. The preferred motion performance can be got according to the auto-tuned control parameters which implies that the
strategy for parameters setting works well. |
|
|
|
|
|
|
|
