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Automatic Tuning of Two-Degree-of-Freedom Control for D.C. Servo Motor Systems


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Abstract

In this paper, we present the first application of the relay feedback approach to the automatic tuning of a two-degree-of-freedom (2-DOF) controller to achieve robust motion control for d.c. servo motor systems. The only specifications required from the user are simple and classical parameters for the desired closed-loop transfer function and an appropriate sensitivity function determining the robustness of the closed-loop system. Heuristics are provided for the selection of key parameters of these functions. Two variations of the conventional relay feedback methods were proposed and investigated. Both of these variations introduce an appropriate phase angle in the negative inverse describing function of the relay to excite a sustained limit cycle oscillation. Simulation and experimental results from a voltage controllable d.c. motor system illustrate the effectiveness of the proposed methods.


Keywords


Pages

Total Pages: 9
Pages: 281-289

DOI
10.1080/10798587.2000.10642796


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Published

Volume: 6
Issue: 4
Year: 2000

Cite this document


References

M. Morari and E. Zafuiou, “Robust Process Control”, Prentice Hall :Englewood Cliffs, NJ, 1989.

K Ohnishi, “Advance motion control in robotics,” Proc. IEEE IECON’89, Philadelphia, PA, 1989.

K J. Astrom and T. Hagglund. “Automatic tuning of simple regulators”, Proceedings of the 9

K J. Astrom and T. Hagglund, “Automatic Tuning of PID Controllers”, Instrument Society of America, NC, USA, 1988.

Kuo, B. C. and J. Tal. “Incremental Motion Control, DC Motors and Control Systems”, SRL Publishing Company, Champaign, Illinois, 1978.

I Horowitz, Synthesis of Feedback Systems. New York: Academic,1963.

Bian Roffel, Peter J.Vermeer, Patrick A.Chin, Simulation and Implementation of Self-Tuning Controllers, Prentice-Hall Inc., 1989.

JOURNAL INFORMATION


ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
10.1080/10798587 with T&F
IMPACT FACTOR: 0.652 (2017/2018)
Journal: 1995-Present




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