Model predictive control optimization for high-inertia turntable servo systems: position loop adaptation and performance validation

Abstract

In follow-up control of large-inertia turntables, directly applying a position-loop controller designed for point-to-point positioning often leads to frequent start–stop behaviors and pronounced velocity oscillations. To address this issue, this paper proposes a model predictive control (MPC)-based position-loop strategy tailored for large-inertia turntable servo systems. An optimization objective integrating both tracking accuracy and motion smoothness is formulated based on the motor torque equation, and the predicted reference displacement increment in the next sampling interval is used to generate vibration-free velocity commands. The proposed method is validated through AMESim/Simulink co-simulation as well as experiments on an actual large-inertia turntable, with performance compared against a conventional feedforward PID controller. Results demonstrate that the MPC-based controller significantly enhances motion smoothness without notably compromising tracking accuracy, improving the SAL metric from −7.025 (feedforward PID) to −2.137, and effectively eliminating oscillation phenomena during follow-up operation.