Title :
Comparison of two approaches to a positional servo control
Author :
Belai, Igor ; Huba, M.
Author_Institution :
Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia
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;
Conference_Titel :
Control Conference (ICCC), 2014 15th International Carpathian
Conference_Location :
Velke Karlovice
Print_ISBN :
978-1-4799-3527-7
DOI :
10.1109/CarpathianCC.2014.6843565
