Tuning P-PI and PI-PI controllers for electrical servos

• Autorzy: Żabiński T. , Trybus L.
• Języki publikacji: EN

Abstrakty

EN

Tuning rules for position and velocity controllers in P-PI and PI-PI electrical servomechanisms are developed using the root locus design method. P-PI controller is equivalent to PID controller with a set-point filter. PI-PI servo provides zero steady-state error for linear disturbances, which may be important for some tracking tasks. Three design data are needed to calculate the tunings, i.e. drive gain, settling time and control cycle. The development begins with continuous controllers for better understanding. Closed-loop transfer functions involve real multiple poles, so the responses are smooth, without overshoot. Upper limits on control cycles as fractions of settling times are given. Some experimental results are presented.

Słowa kluczowe

EN

servomechanism; tuning; root locus; P-PI; PI-PI; PID controllers; tracking

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2010
• Tom: Vol. 58, nr 1
• Strony: 51--58
• Opis fizyczny: Bibliogr. 12 poz., rys., fot.

Twórcy

autor

Żabiński T.

autor

Trybus L.

• Department of Computer and Control Engineering, Rzeszów University of Technology, 2 Pola St., 35-959 Rzeszów, Poland,

Bibliografia

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• [9] T. Żabiński, Control of Mechatronics Systems in Real-Time –Classical and Intelligent Approach, PhD thesis, AGH University of Science and Technology, Kraków, 2006, (in Polish).
• [10] T. Żabiński and L. Trybus, “Tuning P-PI and PI-PI controllers for servo”, X KKR Robotics Conf. 2, 419–428 (2008), (in Polish).
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