Experimental Evaluation of a DO-FPID Controller with Different Filtering Properties

Abstract The paper brings experimental results and evaluation to modular disturbance observer based filtered PD and PID controller design based on theoretical results of papers Huba (2013b,c). The approach is focused on achieving the possibly best filtering properties by keeping nearly constant dynamics of the setpoint responses. The developed controller applied to a positional DC motor control is evaluated for different values of the tuning parameter T D and different filter orders n by using time and shape related performance measures.

[1]  Mikuláš Huba,et al.  Setpoint Versus Disturbance Responses of the IPDT Plant , 2012 .

[2]  Pavol Bistak,et al.  Noise attenuation motivated controller design. Part II: Position control , 2014, 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion.

[3]  Tore Hägglund,et al.  Signal filtering in PID control , 2012 .

[4]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[5]  T. Żabiński,et al.  Tuning P-PI and PI-PI controllers for electrical servos , 2010 .

[6]  Mikulás Huba.  Open flexible P-controller design , 2012, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC).

[7]  S. Skogestad.  Simple analytic rules for model reduction and PID controller tuning , 2004 .

[8]  Mikulas Huba.  Open flexible PD-controller design for different filtering properties , 2013, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society.

[9]  Zhiqiang Gao,et al.  A survey of state and disturbance observers for practitioners , 2006, 2006 American Control Conference.

[10]  Joohn-Sheok Kim,et al.  A Feasible Approach for the Unified PID Position Controller Including Zero-Phase Error Tracking Performance for Direct Drive Rotation Motor , 2009 .

[11]  Tore Hägglund,et al.  Comparison Between Robust PID and Predictive PI Controllers with Constrained Control Signal Noise Sensitivity , 2012 .

[12]  M. Fliess,et al.  Intelligent PID controllers , 2008, 2008 16th Mediterranean Conference on Control and Automation.

[13]  Igor Belai,et al.  Comparison of two approaches to a positional servo control , 2014, Proceedings of the 2014 15th International Carpathian Control Conference (ICCC).

[14]  Kouhei Ohnishi,et al.  Performance and robustness trade-off in disturbance observer design , 2013, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society.

[15]  Yaodong Pan,et al.  Equivalent-Input-Disturbance Approach—Analysis and Application to Disturbance Rejection in Dual-Stage Feed Drive Control System , 2011, IEEE/ASME Transactions on Mechatronics.

[16]  Johannes A.G.M. van Dijk,et al.  Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design , 2002 .

[17]  Mikulas Huba.  Tuning of a filtered pole assignment controller for an integral plant , 2014, Proceedings of the 2014 15th International Carpathian Control Conference (ICCC).

[18]  Mikulas Huba.  Modular PID-controller design with different filtering properties , 2013, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society.

[19]  Mikulás Huba.  Modular disturbance observer based constrained PI-controller design , 2012, 2012 12th IEEE International Workshop on Advanced Motion Control (AMC).

[20]  Kouhei Ohnishi,et al.  Microprocessor-Controlled DC Motor for Load-Insensitive Position Servo System , 1985, IEEE Transactions on Industrial Electronics.

[21]  Igor Belai,et al.  Noise attenuation motivated controller design. Part I: Speed control , 2014, 2014 International Symposium on Power Electronics, Electrical Drives, Automation and Motion.

[22]  M. Huba.  Comparing 2DOF PI and predictive disturbance observer based filtered PI control , 2013 .

[23]  Mikuláš Huba,et al.  Performance measures, performance limits and optimal PI control for the IPDT plant , 2013 .