Time-Optimal Control of Servo Systems Using PD Algorithms
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概要
- 論文の詳細を見る
A connection is made between time-optimal control and the popular proportional and derivative(PD)control for second-order servo systems with input constraints.It is shown that time-optimal control can be achived using PD algorithm provided that the ratio between the proportional and the derivative gains is adjusted according to the initial condition.A closed-form tuning formula is derived.Compared to the conventional time optimal control algorithm, the proposed method requires simple on-line computation and is easy to implement.The method is applied to a DC servo motor and comparisons are made with fixed-gain control algorithms.Since high-gain PD control is closely related to slinding-mode control, the relations between the proposed scheme and sliding-mode control are also investigated.It is seen that whether a high-gain PD algorithm has time-optimal or sliding-mode responses is determined by the ratio of proportional to derivative gains.
- 一般社団法人日本機械学会の論文
- 1998-09-15
著者
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Wu S‐t
National Yunlin Univ. Sci. And Technol. Yunlin Twn
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Wu Shang-teh
Department Of Mechanical Engineering National Yunlin Institute Of Technology
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Shang-Teh WU
Department of Mechanical Engineering, National Yunlin University of Science & Technology
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Jeng-Young FU
Department of Mechanical Engineering, National Yunlin University of Science & Technology
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Shang-teh Wu
Department Of Mechanical Engineering National Yunlin University Of Science & Technology
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Jeng-young Fu
Department Of Mechanical Engineering National Yunlin University Of Science & Technology
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Fu Jeng-Young
Department of Mechanical Engineering, National Yunlin University of Science & Technology
関連論文
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