PID auto-tuning for simultaneously fulfilling the requirements of relative stability and steady-state error

Yu Sheng Lu, Tsang Shiuan Tsai, Chien Chih Huang, Chung Hsin Cheng

研究成果: 雜誌貢獻期刊論文同行評審

摘要

Proportional-integral-derivative (PID) control is commonly used in industrial automatic control systems. However, it is not straightforward to determine control gains in a PID controller for satisfactory closed-loop performance. Many research works have been devoted to the auto-tuning of PID control gains. In contrast to previous studies, this paper develops an auto-tuning rule for PID controllers to simultaneously satisfy specifications of both steady-state error and relative stability, in which stability is specified in terms of phase margin. To illustrate the proposed auto-tuning rule, a focus servo of an optical disk drive is used, in which a voice coil motor drives a lens to focus a laser beam on a data layer of an optical disk. Experimental results show the effectiveness of the proposed PID auto-tuning process.

原文英語
頁(從 - 到)162-168
頁數7
期刊Artificial Life and Robotics
26
發行號2
DOIs
出版狀態接受/付印 - 2020

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

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