Classical PID versus predictive control solutions for a galvanometer-based scanner

摘要

The galvanometer-based scanners (GS) are oscillatory optical systems utilized in high-end biomedical technologies. From a control point-of-view the GSs are mechatronic systems (mainly positioning servo-systems) built usually in a close loop structure and controlled by different control algorithms. The paper presents a Model based Predictive Control (MPC) solution for the mobile equipment (moving magnet and galvomirror) of a GS. The development of a high-performance control solution is based to a basic closed loop GS which consists of a PD-L1 controller and a servomotor. The mathematical model (MM) and the parameters of the basic construction are identified using a theoretical approach followed by an experimental identification. The equipment is used in our laboratory for better dynamical performances for biomedical imaging systems. The control solutions proposed are supported by simulations carried out in Matlab/Simulink.