The adaptive PID controller design for motor control system with backlash

Author

Jinlong Dong ; Bo Mo

Author_Institution

Sch. of Aerosp. Eng., Beijing Inst. of Technol., Beijing, China

fYear

2013

fDate

9-11 June 2013

Firstpage

59

Lastpage

63

Abstract

The control performance will become worse since a backlash in motor control system, which can increase steady-state error, cause the system vibration, and make the system trap in a limit-cycle. The dynamic model of backlash in electronic actuator has been constructed, and the influence to the system stability caused by backlash was analyzed. According to model reference adaptive control theory, an adaptive PID controller for electronic actuator system with a backlash has been designed. According to the numerical simulation results, it has been proved that the adaptive PID controller performs better than conventional PID in eliminating the vibration caused by the backlash.

Keywords

actuators; adaptive control; control system synthesis; machine control; stability; three-term control; vibration control; adaptive PID controller design; backlash; electronic actuator; motor control system; steady-state error; system stability; vibration; Actuators; Adaptation models; Adaptive systems; Limit-cycles; PD control; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Information Processing (ICICIP), 2013 Fourth International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4673-6248-1

Type

conf

DOI

10.1109/ICICIP.2013.6568040

Filename

6568040