サーボ制御系のモータパワーを考慮したPIDゲイン自動調整の研究(機械力学,計測,自動制御)

概要

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This paper presents a new practical automatic PID tuning method considering motor maximum input and power consumption for servo control systems.The PID gains for a basic one-mass-rigid system may be adjusted by a skillful operator and resultant closed loop characteristics are evaluated beforehand. When the load conditions are changed, system identification is carried out and an automatic tuning of the PID gains and a computation of the motion time are executed such that the maximum input is kept in the permissible range and the motor consumption is kept nearly constant. lf the loaded system is modeled as a two-mass-resonant system, a state observer is constructed and load side position and velocity feedback gains are set to the neighborhood of the zero points generated by PID compensator. The simulation and experiments for a positioning system with AC servo motor are presented to show the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2003-06-25