CASCADED CONTINUOUS AND FINITE MODEL PREDICTIVE CONTROL FOR MECHATRONIC SYSTEMS

摘要

A method for controlling a mechatronic system is provided. The method comprises receiving, by a first control unit, values including mechanical characteristics of the mechatronic system, from the mechatronic system. The method further comprises predicting, by the first control unit, a mechanical behaviour of the mechatronic system based on a continuous model predictive control approach. The continuous model predictive control approach is applied on the values including the mechanical characteristics of the mechatronic system. The method further comprises providing, by the first control unit, the predicted mechanical behaviour to a second control unit. The method further comprises receiving, by the second control unit, values including electrical characteristics of the mechatronic system, from the mechatronic system. The method further comprises optimizing, by the second control unit, a control signal for an actuator using the predicted mechanical behaviour. The step of optimizing further includes using a prediction of an electrical behaviour of the mechatronic system based on a direct model predictive control approach. The direct model predictive control approach is applied on the values including the electrical characteristics of the mechatronic system. The method further comprises providing, by the second control unit, the control signal to the actuator for controlling the mechatronic system. Further, a controller for controlling a mechatronic system is provided.