Study on the I-PD Position Controller Design for Linear Pulse Motor Drives

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In this paper, a brief discussion on I-PD position controller design for linear pulse motor drive is presented. The proposed method mainly focuses on the robusteness property of the controller, which is very important for this type of system in which the variation of external load affects plant parameters. It is considered in this paper that two types of controller design methods namely; Coefficient Diagram Method (CDM), and arbitrary Pole Assignment Method (PAM) are treated and compared them. It is shown in this paper that for the case of CDM, a stability index values are chosen such that the robust property of the controller is adequately sufficient for light and heavy load operation without excessively exciting the motor. For these stability index values and an equivalent time constant, which determines the speed of responese of the system, the closed loop pole locations are automatically fixed. For the case of PAM, the closed loop pole assignments must be iteratively tried to arrive at an acceptable response.
東海大学の論文