中文摘要：

为防止因过载而导致电机的损害问题,考虑有刷直流电机的电压和电流物理约束,采用线性约束预测控制设计了直流电机转速跟踪控制器。建立有刷直流电机的数学模型,二次规划（QP：Quadratic Programming）问题采用路径跟踪内点算法进行求解,并搭建了基于d SPACE控制系统的硬件在环实验平台。同时对设计的转速跟踪控制器的有效性进行了实物验证。实验结果表明,该MPC（Model Predictive Control）控制器能很好地满足有刷直流电机的转速跟踪控制要求。

英文摘要：

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.