Model Predictive Control Strategy Design for the Electromechanical Servo System Considering Multi-Disturbance

In this paper, a model predictive control method for suppressing nonlinear disturbances is studied. Firstly, the state space model of the servo system is built, and then the prediction model is established to estimate the future data of the motor. Secondly, the introduction of new terms to optimize the cost function not only improves the accuracy, but also reduces the model error of the prediction model through feedback control. By minimizing the cost function, the optimal control sequence solution can be directly obtained, which reduces the amount of calculation to a certain extent. Finally, the control law is designed and the stability is analyzed. The improve model predictive control (IMPC) control method proposed in this paper has high precision speed tracking ability and anti-interference ability. The coupling effect of various nonlinear disturbances has a good compensation effect, and the accuracy is improved by about 30 % compared with the traditional method. It also has the characteristics of fast speed and strong robustness.