Title :
PID control in the presence of static friction: exact and describing function analysis
Author :
Armstrong-Hélouvry, Brian ; Amin, Bimal
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
fDate :
29 June-1 July 1994
Abstract :
PID position control in the presence of static friction is shown to lead to a frictional limit cycle for all stabilizing combinations of P, I and D parameters. An idealized Coulomb+static friction model, dimensional analysis and the study of all possible solutions to the differential equations are used to achieve analytic results for this nonlinear problem. Three theorems establishing the predictions of the describing function are also presented.
Keywords :
differential equations; friction; limit cycles; position control; three-term control; PID position control; describing function analysis; differential equations; dimensional analysis; frictional limit cycle; idealized Coulomb+static friction model; nonlinear problem; Construction industry; Control systems; Differential equations; Friction; Limit-cycles; Position control; Servomechanisms; Sliding mode control; Three-term control; Transfer functions;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751810
