engleski

Hybrid Theory Based Model Predictive Control of Electrical Drives with Friction

In this paper hybrid theory has been applied to design a state-feedback control law of an electrical drive with friction. The drive is modeled as a piecewise affine (PWA) system and a finite time optimal control problem is formulated for such a hybrid system. Three most often used friction models are considered and compared based on their suitability for the PWA description. It is shown that a reset-integrator friction model gives a PWA model of smaller complexity than LuGre and Karnopp friction models. A state-feedback optimal control law in a form of a look-up table is then derived via dynamic programming. The control system behavior is tested by computer simulations. The results indicate that the proposed control strategy is a valuable alternative to the currently used control strategies.

Control; Modeling; Motion control; Servo drives

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