Dual-Processor Servo Control for Stable Model Predictive Tracking
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Solution Overview
Problem
The high operation load of model predictive control in servo control systems makes it difficult to achieve precise control due to processing limitations, and the existing feedback systems face instability when trying to follow constantly changing target trajectories.
Innovation Solution
A control system is designed with separate processors for model predictive control and feedback control, allowing for distinct operation periods and processes to distribute the load and improve processing capability, using a first processor for model predictive control and a second processor for feedback control, with the option to create interpolated servo commands for stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If model predictive control is used to follow constantly changing target trajectories, then control accuracy is improved, but operation load on the processor increases
Solution Approach 1:
The control system is divided into two separate processing devices: a first processing device dedicated to model predictive control operations and a second processing device dedicated to feedback control operations. This segmentation allows each processor to be optimized for its specific task, reducing the operation load on individual processors while maintaining high control accuracy through model predictive control.
2Reliability
If the operation period is decreased to improve control stability, then control stability is improved, but operation load increases
Solution Approach 1:
The control operations are segmented into model predictive control (first processing device) and feedback control (second processing device) with different operation periods. The first processing device operates with a longer prediction interval suitable for model predictive control, while the second processing device operates with a shorter period for stable feedback control, allowing each to optimize their operation period without compromising overall system stability.
Data Source
AI summary
A control system for causing an output of a control target to follow a command includes: a first processing device which is a processing device having a first processor and a prediction model that defines a correlation between a state variable with respect to the predetermined control target and a control input to the predetermined control target in the form of a state equation, performs model predictive control using the first processor, and outputs a servo command corresponding to the control input at an initial time point of the prediction interval; and a second processing device which is a processing device having a second processor different from the first processor and a feedback system including controllers to which a feedback signal related to an operation of the predetermined control target is input and receiving the servo command from the first processing device, and performs feedback control using the second processor.