Title :
Applying experienced self-tuning PID control to position control of slider crank mechanisms
Author :
Chuang, Chin-Wen ; Lee, Chung-Dar ; Huang, Chin-Lang
Author_Institution :
Dept. of Electr. Eng., I-Shou Univ.
Abstract :
This paper proposes an experienced self-tuning PID control method to the position control of slider-crank mechanism. The mathematical model of a slider crank mechanism coupled with PM actuator is described, firstly. By the Hamilton principle and Lagrange multiplier method, the mathematical formula is derived. Secondly, according to the experience of engineers, the initial PID parameters under normal operating condition can be found out. By the same way, the best parameters of PID controller under full load condition can be found, too. The proposed self-tuning PID controller will automatically tune its parameters under these ranges according to the position error and error derivation. Moreover, the PC-based controller is implemented to control the position of the motor mechanism coupling system. The simulation and experimental results will show the potential of the proposed controller
Keywords :
machine control; permanent magnet motors; position control; self-adjusting systems; synchronous motors; three-term control; Hamilton principle; Lagrange multiplier method; PM actuator; error derivation; motor mechanism coupling system; position control; position error; self-tuning PID control; slider crank mechanisms; Acceleration; Damping; Differential equations; Kinematics; Kinetic energy; Lagrangian functions; Position control; Potential energy; Three-term control; Torque;
Conference_Titel :
Power Electronics, Electrical Drives, Automation and Motion, 2006. SPEEDAM 2006. International Symposium on
Conference_Location :
Taormina
Print_ISBN :
1-4244-0193-3
DOI :
10.1109/SPEEDAM.2006.1649851