Design and verification of predictive control on laboratory model Amira DR300

Abstract

Purpose of this paper is to design a predictive control algorithm based on a GPC (Generalized Predictive Control) method with a constraint of manipulated variable for controling of the laboratory model AMIRA DR300 (made by Amira, Duisburg, Germany) in a real time. This laboratory device consists of two main parts. The first part is a mechanism itself and the second part is a transmission housing. The mechanism consists of two direct-current engines, whose shafts are connected together by a fixed shaft coupling. Rotation speed of the shaft coupling is an output value of a control loop, which is measured by a tachometer generator and an incremental position sensor.