Adaptive Differential-Free Predictive Control of Electric Actuators Under High-Frequency Reversals

To address the issues of impact vibration and current tracking distortion caused by mechanical gaps during high-frequency reversing operations of high-precision electric actuators, we propose a beatless predictive current control method based on an adaptive expanded state observer. First, we construct an improved linear observer that uses current and rotational speed as the primary variables, taking into account the effects of gaps and friction perturbations in the drive system. Next, we integrate the current and rotational speed values from the expanded observer into the beatless predictive current control model to achieve precise current tracking and synergistic suppression of impact. Simulation and experimental results demonstrate that, compared to traditional PID control methods, the proposed approach reduces commutation shock by 86% and commutation speed fluctuations by 87% under sudden load changes and load reduction conditions, while also exhibiting robustness to parameter variations. This method offers a low-shock, high-dynamic response control solution for high-precision electric actuator systems.