The basic characteristics of two-degree-of-freedom PID position controller using a simple design method for linear servo motor drives

Abstract

We propose the method of designing two-degree-of-freedom PID position controller for linear servo motor drive systems. In this method, all the parameters of the position controller can be obtained by the basic arithmetical operations from the values of the mover mass, the thrust constant and the desired cut-off frequency of the position control system. This design method is evaluated from the experiments on the position step responses, the disturbance responses, the positioning accuracy and the frequency responses. Besides, the proposed controller is compared with PID and I-PD controllers on the load variations and the disturbance suppression characteristics. The usefulness of the proposed method is proved from these experimental results.