Abstract
This paper describes the design of a non-overshooting proportional-integral-derivative (PID) controller with both pre-assigned initial integral state and a perturbation compensation scheme for motor positioning systems. According to the requirement of non-overshooting output response and the specified settling time in tracking a step reference signal, the PID gains and the initial integral state are determined systematically. The proposed PID control provides a continuous control signal when the nominal system is subject to sudden set-point changes, implying smooth system performance. To compensate for the system perturbation resulting from parameter variations and unknown load disturbances, an integral sliding perturbation observer is proposed and integrated into the PID-controlled system, which requires neither access to the time derivative of the state vector nor accurate knowledge of system parameters. A sliding mode is ensured throughout the entire response, and system perturbation is estimated by feeding a switching signal through an integrator. Due to the low-pass filtering characteristic of the integral action and the reduction of the required switching gain, the proposed scheme not only precisely compensates for system perturbation within the interested frequency range, but also effectively alleviates the chattering problem in control signals. The usefulness of the proposed design is demonstrated through an experimental study of a motor drive under load variations and disturbances.
| Original language | English |
|---|---|
| Pages (from-to) | 103-110 |
| Number of pages | 8 |
| Journal | JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing |
| Volume | 48 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2005 Mar 1 |
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Keywords
- Non-overshooting servo-control
- PID control
- Perturbation observer
- Sliding mode
ASJC Scopus subject areas
- Mechanical Engineering
- Industrial and Manufacturing Engineering
Cite this
Design of a non-overshooting PID controller with an integral sliding perturbation observer for motor positioning systems. / Lu, Yu-Shen; Cheng, Chao Min.
In: JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, Vol. 48, No. 1, 01.03.2005, p. 103-110.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Design of a non-overshooting PID controller with an integral sliding perturbation observer for motor positioning systems
AU - Lu, Yu-Shen
AU - Cheng, Chao Min
PY - 2005/3/1
Y1 - 2005/3/1
N2 - This paper describes the design of a non-overshooting proportional-integral-derivative (PID) controller with both pre-assigned initial integral state and a perturbation compensation scheme for motor positioning systems. According to the requirement of non-overshooting output response and the specified settling time in tracking a step reference signal, the PID gains and the initial integral state are determined systematically. The proposed PID control provides a continuous control signal when the nominal system is subject to sudden set-point changes, implying smooth system performance. To compensate for the system perturbation resulting from parameter variations and unknown load disturbances, an integral sliding perturbation observer is proposed and integrated into the PID-controlled system, which requires neither access to the time derivative of the state vector nor accurate knowledge of system parameters. A sliding mode is ensured throughout the entire response, and system perturbation is estimated by feeding a switching signal through an integrator. Due to the low-pass filtering characteristic of the integral action and the reduction of the required switching gain, the proposed scheme not only precisely compensates for system perturbation within the interested frequency range, but also effectively alleviates the chattering problem in control signals. The usefulness of the proposed design is demonstrated through an experimental study of a motor drive under load variations and disturbances.
AB - This paper describes the design of a non-overshooting proportional-integral-derivative (PID) controller with both pre-assigned initial integral state and a perturbation compensation scheme for motor positioning systems. According to the requirement of non-overshooting output response and the specified settling time in tracking a step reference signal, the PID gains and the initial integral state are determined systematically. The proposed PID control provides a continuous control signal when the nominal system is subject to sudden set-point changes, implying smooth system performance. To compensate for the system perturbation resulting from parameter variations and unknown load disturbances, an integral sliding perturbation observer is proposed and integrated into the PID-controlled system, which requires neither access to the time derivative of the state vector nor accurate knowledge of system parameters. A sliding mode is ensured throughout the entire response, and system perturbation is estimated by feeding a switching signal through an integrator. Due to the low-pass filtering characteristic of the integral action and the reduction of the required switching gain, the proposed scheme not only precisely compensates for system perturbation within the interested frequency range, but also effectively alleviates the chattering problem in control signals. The usefulness of the proposed design is demonstrated through an experimental study of a motor drive under load variations and disturbances.
KW - Non-overshooting servo-control
KW - PID control
KW - Perturbation observer
KW - Sliding mode
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UR - http://www.scopus.com/inward/citedby.url?scp=19344374101&partnerID=8YFLogxK
U2 - 10.1299/jsmec.48.103
DO - 10.1299/jsmec.48.103
M3 - Article
AN - SCOPUS:19344374101
VL - 48
SP - 103
EP - 110
JO - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
JF - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
SN - 1344-7653
IS - 1
ER -