Performance evaluation of PID, LQR and MPC for DC motor speed control

Siddhesh Dani, D. Sonawane, Deepak D. Ingole, S. Patil
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引用次数: 18

Abstract

Electrical drives play an important role in the implementation of tasks for increasing productivity in various industries, for automation and complex mechanization of production processes. In this paper three strategies; a classical Proportional-Integral-Derivative (PID), a Linear Quadratic Regulator (LQR) and a Model Predictive Control (MPC) are designed and implemented for the DC motor speed control. All these strategies are compared on the basis of output response, steady state error, controller efforts, and constraints handling for the reference tracking. Performed simulations shows that though the controller efforts are less in PID and LQR but MPC outperforms for reference tracking and constraints handling.
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PID、LQR和MPC在直流电机调速中的性能评价
电气驱动在执行任务中发挥着重要的作用,以提高各个行业的生产力,自动化和复杂的机械化生产过程。本文提出了三种策略;设计并实现了经典的比例-积分-导数(PID)、线性二次型调节器(LQR)和模型预测控制(MPC)对直流电机的速度控制。在输出响应、稳态误差、控制器努力和参考跟踪约束处理的基础上,对所有这些策略进行了比较。仿真结果表明,虽然PID和LQR的控制器工作较少,但MPC在参考跟踪和约束处理方面优于PID和LQR。
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