REGULATING UNIT, MECHATRONIC SYSTEM, AND METHOD FOR REGULATING A MECHATRONIC SYSTEM

摘要

The invention relates to a mechatronic system, a regulating unit, and a method for regulating a mechatronic system, for example robots and linear or servomotors, wherein control variable values (U₁, U₂, U₃) for multiple successive time intervals, i.e. for a prediction horizon (n_p), are specified within a specified value range, for example multiple target positions, wherein the respective future curve (V,V',V") of a state variable (x₁) is ascertained for each of the specified control variable values (U₁, U₂, U₃) using a dynamic model of the mechatronic system, for example a track path is ascertained using positions ascertained by means of the model, and the ascertained curves (V,V',V") are compared with a target curve (V_target) and a quality measurement of the respective curve (V,V',V") is ascertained therefrom. The specified control variable value (U₁, U₂, U₃) for which the ascertained quality measurement of the respective curve (V, V, V") has the lowest quality value is selected, i.e. the ascertained curve (V, V, V") lies closest to the target curve (V_target), and the selected control variable value (U₁, U₂, U₃) is set as the control variable in order to regulate the mechatronic system.