Design of Cascaded Model Predictive Controller for Modular Robot Joints

摘要

As the core driving force providers in the robot system of next generation, modular robot joint’s motion and power performance directly affects the overall motion control effect of robot body. The design starts from the servo control of the modular robot joint and follows the principle of model predictive control to devise a cascaded model predictive controller based on the mathematical model of a permanent magnet synchronous motor for the joint to substitute for the traditional dual-loop PI controller with current and velocity loops in the closed-loop vector control link. The design also employs the MATLAB/Simulink platform to simulate the control effect. The simulation experiments illuminate that the design of the cascaded model predictive controller has better dynamic response performance than the traditional PI controller and effectively enhances system robustness.