Analysis of PID and PDF compensators for motion control systems

Author

Ohm, Dal Y.

Author_Institution

Ind. Drives Div., Kollmorgen, Radford, VA, USA

fYear

1994

fDate

2-6 Oct 1994

Firstpage

1923

Abstract

Traditionally, the PI(D) controller has been widely used in servo systems, while other types such as PDF (pseudo-derivative feedback) controller has been applied in some applications. In this article, characteristics of the above two types of compensator are analyzed by using a generalized controller structure in which the PID and the PDF controller are special cases. The classical frequency domain approach is used and the results are interpreted in terms of location of the system poles and zeros. Differences in reference tracking and disturbance regulation performance, steady-state error, and susceptibility to the noise and resonance are studied. The discussion starts with a velocity loop performance and is then extended to a position loop

Keywords

control system analysis; controllers; feedback; frequency-domain analysis; motion control; poles and zeros; position control; three-term control; velocity control; PDF compensator; PID compensator; PID controller; disturbance regulation performance; frequency domain approach; motion control systems; noise resonance; noise susceptibility; poles; position loop; pseudo-derivative feedback controller; reference tracking; servo systems; steady-state error; velocity loop performance; zeros; Control systems; Design engineering; Electrical equipment industry; Industrial control; Motion control; Motion planning; Power engineering and energy; Resonance; Three-term control; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE

Conference_Location

Denver, CO

Print_ISBN

0-7803-1993-1

Type

conf

DOI

10.1109/IAS.1994.377694

Filename

377694