Transactions of Materials and Heat Treatment

Title：Predictive control of rotating drive system with heavy-load manipulator

Authors： Wu Xianbin Li Qunming Deng Hua

Unit： State Key Laboratory of High Performance Complex Manufacturing Central South University

KeyWords： heavy-load manipulator rotary drive system model predictive control extended Kalman filter precision control hydraulic servo

ClassificationCode：TG315; TH137.5

year,vol(issue):pagenumber：2018,43(4):112-117

Abstract：

For the problem of the low position control precision of rotary drive system for heavy-load manipulator resulting from inherent nonlinear friction, based on the state space model of system, a predictive control method for model based on Kalman filter was proposed by combining with model predictive control (MPC), extended Kalman filter (EKF) and quadratic optimization algorithm. Then, the precise control under constraint conditions was realized by the model predictive control (MPC). And the impact of model error was avoided by the extended Kalman Filter (EKF) which improves the system robustness. Furthermore, the local optimal solution was calculated efficiently by the quadratic optimization algorithm. The simulation results show that the designed control strategy is superior to the traditional PID control in terms of fastness and stability. And the experimental results show that the control strategy is effective and can improve the position control precision of rotary drive system for heavy-load manipulator significantly.

Funds：

国家973计划项目（2006CB705404）

吴贤斌（1992-），男，硕士研究生；E-mail：1055644410@qq.com；通讯作者：邓华（1961-），男，博士，教授；E-mail：hdeng@csu.edu.cn

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