0

Full Content is available to subscribers

Subscribe/Learn More  >

Frequency Constrained Adaptive PID Laws for Motion Control Systems

[+] Author Affiliations
Tesheng Hsiao, Chung-Chiang Cheng

National Chiao Tung University, Hsinchu, Taiwan

Paper No. DSCC2017-5108, pp. V002T07A001; 6 pages
doi:10.1115/DSCC2017-5108
From:
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME

abstract

The proportional-integral-derivative (PID) controller is widely used in motion control systems due to its simplicity and effectiveness. To achieve satisfactory performance, the PID parameters must be properly tuned. Although numerous PID tuning methods were investigated in the past, most of them were based on either time-domain or frequency-domain responses, while integration of features in both domains for PID tuning was less addressed. However, many industrial practitioners still found it difficult to compromise multiple conflicting control objectives, such as fast responses, small overshoot and tracking errors, and good robustness, with PID controllers. Moreover, it is desirable to adjust PID parameters online such that plant variations and unexpected disturbances can be compensated for more efficiently. In view of these requirements, this paper proposes an adaptive PID control law that updates its parameters online by minimizing the time-domain tracking errors subject to frequency-domain constraints that are imposed for loop shaping. By combining optimization criteria in both time and frequency domains for online parameter adjustment, the proposed PID controller can achieve good tracking performance with adequate robustness margin. Then the proposed PID law is applied to control an XZ-table driven by AC servo motors. Experimental results show that the tracking performance of the proposed controller is superior to that of a constant-gain PID controller whose parameters were tuned by the commercial Matlab/Simulink PID tuner.

Copyright © 2017 by ASME
Topics: Motion control

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In