Минимизация динамических ошибок следящих систем методом модельного прогнозирования

Abstract

The article describes a possible way of reduction of drive speed error with the use of MPC algorithm in a separate adaptation loop. A purpose of MPC is to find optimal value of some parameter of main control algorithm (probably non-MPC) and apply it to main loop’s regulator. A seek procedure of MPC algorithm based on numerous tests of main system behavior at some future time interval and founding parameter, which brings absolute minimum to integral quadratic error on prediction horizon.