Control systems design with high performance and small environmental load based on MPC

2015 Fiscal Year Final Research Report

• Project/Area Number: 25420191
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: Akita Prefectural University
• Principal Investigator: Sato Toshiyuki 秋田県立大学, システム科学技術学部, 准教授 (40315635)
• Co-Investigator(Kenkyū-buntansha): SAITO NAOKI 秋田県立大学, システム科学技術学部, 准教授 (60315645)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 機械力学・制御 / モデル予測制御 / 外乱オブザーバ

Outline of Final Research Achievements

We have developed a mechatronics-oriented model predictive control (MPC) technique in this research. Using the multiple-input-multiple-output state-space MPC, we devised an effective means to constrain the total control input where the MPC control input is computed on the basis of the information on the disturbance observer output. Also, using the predictive functional control (PFC), we developed a two-degree-of-freedom control system which comprises a feedback system with a PFC controller and a feedforward system with a zero phase error tracking controller. It was confirmed that the tracking error was successfully decreased less than 1/15.

Free Research Field

制御工学