An auto-tune model predictive control approach for position servo system with backlash

摘要

Backlash which always exists in gear transmission position servo system, would cause dead-zone error, outputting oscillation, limit cycle and deteriorate system control performance. To enhance the control performance of position servo system with backlash, a novel auto-tune model predictive control approach is proposed in this paper. In this approach, an adjustable linear model predictive controller is designed to guarantee system stability and control performance. An auto tuning strategy is designed according to backlash size, differential of reference signal, and error of actual position control, to reduce the adverse effects caused by backlash. Finally, the effectiveness of the proposed approach is validated by results of simulation experiment.