Comparison of two approaches to a positional servo control

Author

Belai, Igor ; Huba, M.

Author_Institution

Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia

fYear

2014

fDate

28-30 May 2014

Firstpage

34

Lastpage

39

Abstract

The paper deals with comparison of a filtered disturbance observer based PID control (DO FPID) with different realizations of a two-degree-of-freedom (2DOF) PID control. It shows that whereas in terms of IAE (Integral of absolute error) of the setpoint and disturbance step responses, both solutions may yield an equivalent closed loop dynamics, the DO FPID control guarantees a much better quantization noise attenuation [1]-[3]. It is shown that this property may be used in such a way that whereas the torque ripple of both alternatives evaluated by a modified total variance measure takes equivalent values, IAE values of the loop with the DO-FPID will significantly decrease.

Keywords

closed loop systems; filtering theory; integral equations; observers; position control; quantisation (signal); realisation theory; servomechanisms; three-term control; 2DOF PID control realization; DO FPID; IAE; disturbance step response; equivalent closed loop dynamics; filtered disturbance observer based PID control; integral of absolute error; positional servo control; quantization noise attenuation; setpoint step response; torque ripple; total variance measure; two-degree-of-freedom PID control; Attenuation; Noise; Observers; PD control; Quantization (signal); Torque; Tuning; P+PI control; PID control; Positional control; disturbance observer; noise attenuation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ICCC), 2014 15th International Carpathian

Conference_Location

Velke Karlovice

Print_ISBN

978-1-4799-3527-7

Type

conf

DOI

10.1109/CarpathianCC.2014.6843565

Filename

6843565