High Speed Motion Control System With Predictive Observer and Its Parameters Optimization

Authors

Lei Zhou, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, ChinaFollow
Jiangang Li, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, ChinaFollow
Zexiang Li, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong KongFollow
Lanhui Fu, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, ChinaFollow

Author Country (or Countries)

China

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.

Recommended Citation

Zhou, Lei; Li, Jiangang; Li, Zexiang; and Fu, Lanhui (2015) "High Speed Motion Control System With Predictive Observer and Its Parameters Optimization," Applied Mathematics & Information Sciences: Vol. 09: Iss. 2, Article 26.
Available at: https://digitalcommons.aaru.edu.jo/amis/vol09/iss2/26