Output constrained IMC controllers in control systems of electromechanical actuators

• Published in: Control theory and technology 2015-08, Vol.13 (3), p.245-255
• Main Authors: Marusak, Piotr M., Kuntanapreeda, Suwat
• Format: Article
• Language: English
• Subjects: Actuators; Complexity; Computational Intelligence; Constraints; Control; Control and Systems Theory; Control systems; Controllers; Design engineering; Engineering; Mathematical models; Mechatronics; Negative feedback; Optimization; Robotics; Systems Theory; Unity; 内模控制器; 内部模型控制; 控制系统结构; 机电作动器; 模型预测控制; 电动执行机构; 电液执行机构; 输出
• ISSN: 2095-6983; 2198-0942
• DOI: 10.1007/s11768-015-4047-0

Electromechanical actuators are widely used in many industrial applications. There are usually some constraints existing in a designed system. This paper proposes a simple method to design constrained controllers for electromechanical actuators. The controllers merge the ideas exploited in internal model control and model predictive control. They are designed using the standard control system structure with unity negative feedback. The structure of the controllers is relatively simple as well as the design process. The output constraint handling mechanism is based on prediction of the control plant behavior many time steps ahead. The mechanism increases control performance and safety of the control plant. The benefits offered by the proposed controllers have been demonstrated in real-life experiments carried out in control systems of two electromechanical actuators： a DC motor and an electrohydraulic actuator.