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Krok dyskretyzacji i nastawy PID w dyskretnym serwomechanizmie napięciowym

Bożek Andrzej, Trybus Leszek

Pomiary Automatyka Robotyka

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2022

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R. 26, nr 1

5--10

PL

Przedstawiono metodę doboru kroku dyskretyzacji i nastaw dyskretnego regulatora PID dla modelu serwomechanizmu z silnikiem sterowanym napięciowo, opisanym jako integrator ze stałą czasową. Założeniem metody jest lokalizacja potrójnego bieguna układu zamkniętego, aby zapewnić gładkie przebiegi regulacyjne. Daną projektową stanowi czas regulacji. Zbadano, w jakim stopniu filtracja składowej różniczkującej regulatora skraca wymagany krok dyskretyzacji. Rozważono także rozszerzony problem projektowy z zadanym dodatkowo stopniem filtracji.

EN

A method for selection of discretization step and discrete PID controller settings is presented for a model of servo with voltage controlled motor, described by an integrator with time constant. The method assumes a triple pole location of the closed-loop system to provide smooth control transients. Settling time is a design data. Influence of filtering degree in controller derivative component on reduction of discretization step is examined. Extended design problem with the filtering degree being an additional requirement is also considered.

2

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

Bożek Andrzej, Trybus Leszek

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2022

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Vol. 70, nr 1

art. no. e139957

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.

3

Interval arithmetic-based fuzzy discrete-time crane control scheme design

Smoczek J.

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2013

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Vol. 61, nr 4

863--870

EN

In many manufacturing segments, container terminals and shipping yards the automation of material handling systems is an important element of enhancing productivity, safety and efficiency. The fast, precise and safe transfer of goods in crane operations requires a control application solving the problems, including non-collision trajectory planning and limitation of payload oscillations. The paper presents the interval arithmetic-based method of designing a discrete-time closed-loop anti-sway crane control system based on the fuzzy interpolation of linear controller parameters. The interval analysis of a closed-loop control system characteristic polynomial coefficients deviation from their nominal values is proposed to define a minimum number of fuzzy sets on the scheduling variables universe of discourse and to determine the distribution of triangular-shaped membership functions parameters, which satisfy the acceptable range of performances deterioration in the presence of the system’s parameters variation. The effectiveness of this method was proved in experiments conducted using the PAC system on the laboratory scaled overhead crane.