Tuning PID and PI-PI servo controllers by multiple pole placement

• Autorzy: Bożek Andrzej , Trybus Leszek

Identyfikatory

DOI

10.24425/bpasts.2021.139957

• Języki publikacji: EN

Abstrakty

EN

Tuning rules for PID and PI-PI servo controllers are developed using a pole placement approach with a multiple pole, i.e. a triple one in the case of PID and a quadruple for PI-PI. The controllers involve complex roots in the numerators of the transfer functions. This is not possible in the classical P-PI structure which admits real roots only. The settling time of the servos determined by the multiple time constant is the only design parameter. Nomograms to read out discrete controller settings in terms of the time constant and control cycle are given. As compared to the classical structures, the upper limit on the control cycle is now twice longer in the case of PID, and four times in the case of PI-PI. This implies that the settling times can be shortened by the same ratios. Responses of a PLC-controlled servo confirm the validity of the design.

Słowa kluczowe

EN

servomechanism; double integrator; pole placement; PID controller; discrete-time control

PL

serwomechanizm; integrator podwójny; przesuwanie biegunów; regulator PID; sterowanie z czasem dyskretnym

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2022
• Tom: Vol. 70, nr 1
• Strony: art. no. e139957
• Opis fizyczny: Bibliogr. 17 poz., rys., tab.

Twórcy

autor

Bożek Andrzej

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

• https://orcid.org/0000-0003-3015-7474

autor

Trybus Leszek

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

• https://orcid.org/0000-0002-1415-3679

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