title: Predictive IP controller for robust position control of linear servo system.
abstract: 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.
authors.affiliation: 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. Electronic address: guoting518@163.com.
authors.forename: Shaowu
authors.initials: S
authors.lastname: Lu
authors.affiliation: School of Information Science and Engineering, Wuhan University of Science and Technology, Heping Road, Wuhan, China.
authors.forename: Fengxing
authors.initials: F
authors.lastname: Zhou
authors.affiliation: School of Information Science and Engineering, Wuhan University of Science and Technology, Heping Road, Wuhan, China.
authors.forename: Yajie
authors.initials: Y
authors.lastname: Ma
authors.affiliation: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Luoyu Road, Wuhan, China.
authors.forename: Xiaoqi
authors.initials: X
authors.lastname: Tang
keywords: Generalized predictive control; Integral plus proportional; Permanent magnet synchronous linear motor; Position control