伺服电机的预测控制与比例-积分-微分控制

With the purpose of stabilization control of servo motor， according to the dynamic matrix control principle， a servo motor control scheme was put forward using dynamic matrix control and Proportion-Integration-Differentiation ( PID) control． Then， the unification model for direct /alternating servo model was analyzed; dynamic matrix control was used to design the current loop; rise time and stabilization value were used to form equivalent inertial element， and PID method was used to realize the control of speed loop and position loop． The calculation and simulation results show that the constant time of equivalent inertial element is in the inverse ratio of － ln( 0． 386) ; that the controller designed by PID mixed with Model Predictive Control ( MPC) can well make the servo motor run smoothly and fast．