Daniel Strassberger, Paolo Mercorelli, A. Georgiadis
{"title":"在Robotino中使用几何运动控制方法，利用直流驱动器的平整度来模拟解耦MPC的发电机","authors":"Daniel Strassberger, Paolo Mercorelli, A. Georgiadis","doi":"10.1109/SPEEDAM.2014.6871967","DOIUrl":null,"url":null,"abstract":"This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. Horizon, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a preselecting matrix. Simulation results using real data of Robotino are shown.","PeriodicalId":344918,"journal":{"name":"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion","volume":"108 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino\",\"authors\":\"Daniel Strassberger, Paolo Mercorelli, A. Georgiadis\",\"doi\":\"10.1109/SPEEDAM.2014.6871967\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. Horizon, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a preselecting matrix. Simulation results using real data of Robotino are shown.\",\"PeriodicalId\":344918,\"journal\":{\"name\":\"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion\",\"volume\":\"108 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-06-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SPEEDAM.2014.6871967\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SPEEDAM.2014.6871967","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Using the flatness of DC-Drives to emulate a generator for a decoupled MPC using a geometric approach for motion control in Robotino
This paper proposes a controller for motion control of the Robotino. The proposed controller takes under consideration a noninteracting control strategy realized using a geometric approach and the flatness of the DC-Drives. Horizon, Vertical and Angular motions are considered and once the decoupling between these motions is obtained, a Model Predictive Control (MPC) strategy is used in combination with a preselecting matrix. Simulation results using real data of Robotino are shown.
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