Abstract
In this paper, an adaptive piecewise linear control scheme is proposed for improving the performance and response time of servo mechanical control systems. It is a gain stabilized control technique. No large phase lead compensations or pole zero cancellations are needed for performance improvement. Large gain is used for large tracking error to get fast response. Small gain is used between large and small tracking error for good performance. Large gain is used again for small tracking error to cope with disturbance. It gives an almost command independent response. It can speed up the rise time while keeping robustness unchanged. The proposed control scheme is applied to a servo system with large time lag and a complicated electro-hydraulic velocity/position servo system. Time responses show that the proposed method gives significant improvements for response time and performance.
Highlights
This template Gain and phase stabilized are two conventional design methods for feedback control systems
Operating points are replaced by fast response and good performance conditions and interpolation for gain evaluation is replaced by an adaptive switching point
The proposed adaptive piecewise linear controller has been shown that provided controlled systems are reference input independent and both good performance and fast response were obtained simultaneously
Summary
This template Gain and phase stabilized are two conventional design methods for feedback control systems. Variable structure control is a switching control method for feedback control systems [3,4,5,6,7] It gives good performance and robustness for coping with system uncertainty. Gain scheduling has been used successfully to control nonlinear systems for many decades and in many different applications, such as autopilots and chemical processes [8,9,10] It consisted of many linear controllers for operating points to cope with large parameter variations. Operating points are replaced by fast response and good performance conditions and interpolation for gain evaluation is replaced by an adaptive switching point. It is determined by the filtered command tracking errors.
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