DocumentCode :
666280
Title :
Open flexible PD-controller design for different filtering properties
Author :
Huba, M.
Author_Institution :
Slovak Univ. of Technol. in Bratislava, Bratislava, Slovakia
fYear :
2013
fDate :
10-13 Nov. 2013
Firstpage :
3668
Lastpage :
3674
Abstract :
The paper represents first part of two contributions dealing with simplified modular design of filtered PD (FPD) and disturbance observer (DO) based filtered PID control (FPID) illustrated by example of positional servo control. This first part is devoted to analysis of the FPD controller tuned for different types of nonmodelled or filter dynamics. Openness of the approach means that different order filters required for implementation of these controllers and noise attenuation may be introduced without necessity to repeat in the nominal case analysis of the optimal and critical tuning. By simpler means, flexible approach enabling to fit filtering requirements of particular loop is proposed. Achieved performance is evaluated by newly introduced measures for deviations from monotonic and two-pulse shapes of transients typical for control of plants with dominant 2nd order dynamics.
Keywords :
PD control; control system synthesis; filtering theory; noise abatement; observers; optimal control; servomechanisms; three-term control; 2nd order dominant dynamics; FPD controller tuning; FPID; critical tuning; disturbance observer; disturbance observer based filtered PID control; filter dynamics; filtered PD; filtering properties; filtering requirements; monotonic shapes; noise attenuation; nonmodelled dynamics; open flexible PD-controller design; optimal tuning; positional servo control; simplified modular design; two-pulse shapes; Approximation methods; Noise; PD control; Shape; Stability analysis; Transient analysis; Tuning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
ISSN :
1553-572X
Type :
conf
DOI :
10.1109/IECON.2013.6699719
Filename :
6699719
Link To Document :
بازگشت