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In order to obtain excellent varied speed performance of welding robot, the predictive model of motor drive system was established. On the basis of the analysis of the permanent magnet synchronous motor drive system, generalized predictive control method was adopted to control the rotor speed and position of the rotor. Because of the input and output constraint of the system, convex quadratic problem was proposed, and then an active set algorithm was adopted to deal with these constrained input and output. At last, the performance of this method is demonstrated by a real-time implementation using a digital signal processor (DSP) chip on a permanent-magnet synchronous motor with sinusoidal flux distribution. Theoretic analysis and experiments verify the validity and feasibility of this approach.
Date of Conference: 2-4 July 2008