Deployment of a predictive-like optimal control law on a servo drive system using linear programming approach

Abstract

: Current drive control systems tend to push control loops to the limits of their performance. One of the ways of doing so is to use advanced optimization algorithms, usually related to model-based off-line calculations, such as genetic algorithms, the particle swarm optimisation or the others. There is, however, a simpler way, namely to use predictive controlformalismandbyformulationofasimplelinearprogrammingproblemwhichiseasy to solve using powerful solvers, without excessive computational burden, what is a reliable solution, as whenever the optimization problem has a feasible solution, a global minimizer can be efficiently found. This approach has been deployed for a servo drive system operated by a real-time sampled-data controller, verified between model-in-the-loop and hardware-in-the-loop configurations, for a range of prediction horizons, as an attractive alternative to classical quadratic programming-related formulation of predictive control task.