Abstract
Proportional-Integral-Derivative (PID) control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results.
Highlights
Several advanced control methods have been proposed in the literature, it is an incontestable fact that the Proportional-Integral-Derivative (PID) control is by far the most used control method both in industry and academia [1,2,3]
Since the stability and performance of a PID-based control system may drastically change by the controller gains, i.e., proportional, integral and derivative control gains, several different tuning methods/algorithms have been proposed for PID controllers [5]
This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back
Summary
Several advanced control methods have been proposed in the literature, it is an incontestable fact that the Proportional-Integral-Derivative (PID) control is by far the most used control method both in industry and academia [1,2,3]. In the proposed conventional PID tuning methods, there is generally a trade-off between the robustness and performance of control systems, i.e., increasing the robustness degrades the performance and vice versa [10]. Advanced PID tuning methods have been proposed to improve the robustness and performance of servo systems, they suffer from complexity [8]. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back. The proposed controller provides that a high performance robust motion control system can be designed by properly tuning the conventional PID controllers. The performance of a servo system is not influenced by increasing the robustness, i.e., suppressing the external disturbances and parameter variations does not degrade the performance.
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