Generalized Predictive Control of Automatic Chain Magazine Based on Extended State Observer
In order to realize the position tracking of automatic chain magazine,a new control strategy combining extended state observer and generalized predictive control was proposed.Based on the con-tinuous-time generalized predictive control algorithm,a generalized predictive position controller was designed.The multi-source disturbance of the magazine system was estimated by the extended state ob-server,and the feed-forward correction of the eneralized prediction controller was carried out according to estimated values,so anti-interference ability and stability of the controller was enhanced.The simu-lation and analysis of the automatic chain magazine was carried out under three different load conditions including no-load,half-load and full-load.The results show that compared with PID control,the con-trol strategy proposed in this paper is insensitive to disturbance torque,and has better robustness,smaller steady state error and higher position control accuracy.
automatic chain magazinegeneralized predictive controlextended state observerpo-sition control
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