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Model Predictive Velocity Control of Electrical Drives on an Industrial-PC

Accurate position and velocity control of electrical drives is required in many industrial applications such as milling machines and robots. A cascade control based on PI controllers is widespread. However, problems arise with complex nonlinear drive systems. A powerful solution approach is the model predictive control (MPC). But the high computational effort required makes implementation difficult, especially with older servo drives. This paper shows that MPC can also be implemented on an Industrial-PC (IPC), which is available in many industrial plants anyway. To solve dead time problems the augmented state space representation is used.