关键词: 伺服控制系统, 电流预测控制, 无差拍控制

Abstract: Space robotic arms are important actuators in onorbit serving (OOS) missions and the performance of joint servo systems largely affect overall performance of robotic arm motion control systems. Current loop is the innermost part in the nested loop structure of joint servo system and highperformance motion control systems demand current loop that has fast dynamic response, low overshoot and parameter robustness. In this paper, a highorder deadbeat current predictive control method is proposed. Simulation results show that, compared with conventional PI controllers, this method can increase the system bandwidth and push the dynamic response time to its theoretical limit; when compared with conventional deadbeat control method, this method is more robust under resistance and magnetic flux variation and shows satisfactory dynamic and steadystate performance under parameter mismatch.