Title :
Analysis of PID and PDF compensators for motion control systems
Author_Institution :
Ind. Drives Div., Kollmorgen, Radford, VA, USA
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;
Conference_Titel :
Industry Applications Society Annual Meeting, 1994., Conference Record of the 1994 IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-1993-1
DOI :
10.1109/IAS.1994.377694
