Simple robust design of Two-Degree-of-Freedom PID controller for tracking drives of Linear Servo Motors

Author

Yamamoto, Seiichi ; Hirahara, Hideaki ; Tanaka, A. ; Ara, Takahiro

Author_Institution

Polytech. Univ., Sagamihara, Japan

fYear

2012

fDate

21-24 Oct. 2012

Firstpage

1

Lastpage

6

Abstract

A simple robust design method of a two-degree-of-freedom (TDOF) PID position controller is presented for linear servo motor (LSM) drives under load mass variation. A new calculation formula to determine all TDOF PID parameters suitable for positioning drives is shown. Using the calculation formula, one can easily design overshoot-less positioning drive systems by turning only two items: cutoff frequency of position control loop and crossover frequency of sensitivity and complementary sensitivity functions. In addition, the author shows a re-design method that entails adopting the above TDOF PID parameters to tracking drives. Experimental results on a vector-controlled single-sided linear induction motor (3-phase, 3-pole, 12-slot, 200-V, 16.1-A, 50-Hz) demonstrate the validity of the proposed method.

Keywords

control system synthesis; frequency control; induction motor drives; linear induction motors; machine vector control; position control; servomotors; three-term control; LSM tracking drive; TDOF; complementary sensitivity function; crossover frequency; cutoff frequency control loop; degree of freedom; linear induction motor; linear servo motor; overshoot less positioning drive system; position control loop; robust PID position controller design; vector control; Cutoff frequency; Drives; PD control; Position control; Sensitivity; Servomotors; Transfer functions; linear servo motor; load-work mass variation; tracking drives; two-degree-of-freedom PID controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Machines and Systems (ICEMS), 2012 15th International Conference on

Conference_Location

Sapporo

Print_ISBN

978-1-4673-2327-7

Type

conf

Filename

6401919