关键词: 模型预测控制, 有刷直流电机, 路径跟踪法, 硬件在环实验

Abstract: In order to solve the problem of physical constraints of the DC(Direct-Current), an MPC (Model
Predictive Control) controller tracks the speed of brush DC motor. Based on the established motor model, the
MPC controller is designed to track the expected speed if the brush DC motor, the formed QP(Quadratic
Programming) problem is solved by path-following method. A real-time simulation platform is built to verify the
controller. The result shows that the MPC controller has good controlling performance.

Key words: path-following method, hardware-in-the-loop (HIL) testing platform,  model predictive control, brush direct-current (DC) motor