Research On Optimal Preview Control For Object Trajectory Tracking

The Optimal Preview Control Method OPCM is a new control theory in the recent years, which has been applied in many aspects. The field of Preview Control is correlated with using advanced knowledge of disturbances or references to improve the tracking quality or the dis-turbance rejection. The Preview controller is a controller that uses the future information on the target signal and or disturbances in the design process. Generally, OPCM is based on the error, the difference between target signal and the actual trajectory. It is a useful method for the control, namely, Multiple Input Multiple Output MIMO control system.This thesis is engaged in the applied research of trajectory tracking, and applies the opti-mal preview control theory to industrial production. The purpose of this thesis is to design a space object trajectory tracking control algorithm used in industrial production or other situa-tions that require precise control to achieve high-precision object tracking or path control.Although, the preview theory of tracking control using the future information has been studied extensively since long but it did not get enough applications in the field of servo con-trol systems which is one of the most important techniques used in modern industrial processing, that will increase the accuracy and efficiency of the industrial product.In order to study the effective preview steps and to present the role of preview visibility, it needs to calculate and implement the previewed evaluation function value with preview part in the optimal preview system, then measure the comparative value with evaluation function value of optimal servo system without preview. From this relationship, we can deduce:When the previews steps are zero, not found, we have no feed forward compensation. Such a control system is optimal control system OCS yet it is not an optimal preview control system OPCS, means that OCS is a special case of OPCS when the preview value is zero.This thesis researches on trajectory tracking control system through simulation, theory and experiment. It deals with the use of Universal Motion and Automation Controller UMAC based on preview control method to give good trajectory tracking performance of3-axis servo table. The subject of this thesis is to study and design space object trajectory tracking control-ler based on optimal preview method and then implement it in servo system. The thesis consists of three parts. In the first part an accurate mathematical model is given, the second part has gone through simulation by using MATLAB software. The third part is an experimen-tal work. This experiment is the concrete practice to carry out this research to verify the proposed optimal preview control tracking algorithm as well as to realize the practical applica-tion of space object trajectory tracking control algorithm.Optimal preview control method for servo systems is effective to improve the phase re-sponse as compared to optimal control method. The future information has great importance in determining human behaviour. Hopefully, use of the technology depending on future informa-tion will increase extensively in different areas.