• Title, Summary, Keyword: PD Control

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A design on optimal PD control system that has the robust performance (강인한 성능을 가지는 최적 PD 제어 시스템 설계)

  • Kim, Dong-Wan;Hwang, Hyeon-Jun
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.6
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    • pp.656-666
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    • 1999
  • In this paper, we design the optimal PD control system which has the robust performance. This PD control system is designed by applying genetic algorithm (GA) to the determination of proportional gain KP and derivative gain KD that are given by PD servo controller, to make the output of plant follow the output of reference model optimally. These proportional and derivatibe gains are simultaneously optimized in the search domain guaranteeing the robust performance of system. And, this PD control system is compared with $\mu$ -synthesis control system for the robust performance. The PD control system designed by the proposed method has not only the robust performance but also the better command tracking performance than that of the $\mu$ -synthesis control system. The effectiveness of this control system is verified by computer simulation.

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Design of the PD Controller in the I-PD Control System for Position Control (위치제어를 위한 I-PD제어계에서 PD제어기의 설계)

  • Kim, Sung-Dae
    • Journal of the Institute of Convergence Signal Processing
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    • v.10 no.4
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    • pp.262-266
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    • 2009
  • Since high speed and precision control shoud be satisfied in the position control system, the DC servo motor with easy control and satisfactory response characteristic is used. The various studies of position control techniques have been proposed in order to improve the control performance in the position control system. In this paper, the design method for a position control is suggested for constructing the PD controller in I-PD control system. The coefficients of PD controller in the I-PD control system are determined by using the transfer function which is normalized. Stability and root conditions of the system are derived from mathematical technique. From the result of computer simulation in I-PD control system by applying this control technique, is investigated by the method of proposed design the effectiveness of system response characteristic for input and disturbance.

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Design of SPMSM Robust Speed Servo Controller Switching PD and Sliding Mode Control Strategies (PD-슬라이딩 모드 제어의 절환을 통한 강인한 SPMSM 속도 제어기 설계)

  • Son, Ju-Beom;Seo, Young-Soo;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.249-255
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    • 2010
  • The paper proposes a new type of robust speed control strategy for permanent magnet synchronous motor by using PD-sliding mode hybrid control. The PD control has a good performance in the transient region while the sliding mode controller provides the robustness against system uncertainties. Taking advantages of the two control strategies, the proposed control method utilizes the PD control in the approaching region to the sliding surface and the sliding mode control near at the sliding surfaces. The chattering problem of the sliding mode controller is eliminated by applying the saturation function for the switching function of the sliding mode control. The stability of the sliding mode control is verified by using Lyapunov function with the proper selection of variable gains. It is shown that with this simple switching algorithm, stability of the overall hybrid control system is ensured. Through the simulations, the PD-sliding mode algorithm is shown to have a good performance in the transient response as well as being robust against disturbances. The robustness of the PD-sliding mode algorithm is further demonstrated against various external disturbances in the real experiments of SPMSM motor control.

Control of Multi-Joint Manipulator Using PD-Sliding Mode (PD-슬라이딩 모드를 이용한 다 관절 매니퓰레이터 제어)

  • Son, Hyun-Seok;Lee, Won-Ki;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.12
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    • pp.1286-1293
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    • 2008
  • This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

Construction of the expanded I-PD control system by Neural network with two hidden layers (2개의 은닉층을 가진 신경망에 의한 확대 I-PD제어계의 구성)

  • 강동원;김대성;하홍곤;고태언
    • Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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    • pp.256-261
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    • 1999
  • Many control techniques have been proposed in order to improve the control performance of discrete-time domain control system. In the position control system using a DC servo motor as control system, the response-characteristic of system is controlled by the I-PD controller. In the I-PD longer if gains of I-PD controller are unsuitable. In this paper, therefore, a expanded I-PD control system is constructed by inserting a pre-compensator at out terminal of I-PD controller. It is implemented by neural network with two hidden layers. From the result of computer simulation in the proposed control algorithm, its usefulness is verified.

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A Study on Control Characteristics of Translation System Using PD Control and LQR (PD제어와 LQR을 이용한 병진 시스템의 제어특성 연구)

  • 김택현;정상화;이동하
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.10 no.5
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    • pp.78-84
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    • 2001
  • The translation system is made up of springs, masses and a dashpot. This precise piece of equipment is controlled electro-mechanically by a motor and operating program. The control strategy of the system can be changed by spring stiffness, change of mass, and the damping coefficient of the dashpot. This system proves the necessity and effect of a closed loop control. In this paper, PD control experiments were implemented for the translation system. When the north falter was added on the PD controller, we compared the response characteristics of the two systems. The state feedback controller minimized scalar control gains and the resulting response characteristics of the system were studied using the LQR design. Finally, we improved the response characteristics of the translation system which are rising time, settling time, steady state error, and overshoot LQR was better as compared with PD control.

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A Study of Design on PD Controller Having Robust Performance Using GA (GA를 이용한 강인한 성능을 가지는 PD 제어기의 설계에 관한 연구)

  • Kim, D.W.;Son, M.H.;Hwang, H.J.;Park, J.H.;Youn, Y.D.;Do, D.H.;Choi, J.H.
    • Proceedings of the KIEE Conference
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    • pp.795-797
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    • 1998
  • This paper suggests a design method of the optimal PD control system having robust performance. This PD control system is designed by applying genetic algorithm(GA) with reference model to the optimal determination of proportional(P) gain and derivative(D) gain that are given by PD servo controller. These proportional and derivative gains are simultaneously optimized in the search domain guaranteeing the robust performance of closed-loop system. This PD control system is applied to the fuel-injection control system of diesel engine and compared with ${\mu}$ -synthesis control system for robust performance. The effectiveness of this PD control system is verified by computer simulation.

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Motion Control of Servo Cylinder Using Neural Network (신경회로망을 이용한 서보 실린더의 운동제어)

  • Hwang, Un-Kyoo;Cho, Seung-Ho
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.28 no.7
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    • pp.955-960
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    • 2004
  • In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The Neural Network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control.

Robust Back-Stepping Control with Polynomial-type PD input for Flexible Joint Robot Manipulators

  • Lee, Jae-Young;Park, Jong-Hyeon
    • Proceedings of the KSME Conference
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    • pp.927-932
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    • 2007
  • This paper proposes a robust back-stepping control with polynomial-type PD input for flexible joint robot manipulators to overcome parameter uncertainty. In the first step, a fictitious control is designed with polynomial-type PD input for the rigid link dynamic by the H-infinity control method. In second and third steps, the other fictitious control and real control are designed using saturation control and polynomial-type PD input based on the Lyapunov's second method. In each step, the designed robust inputs satisfy the L2-gain, which is equal to or less than gamma in the closed loop system. In contrast with the previous researches, the proposed method proves performance relations with PD gain from the robust gain. The performance robustness of the proposed control is verified through a 2-DOF robot manipulator with joint flexibility.

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Hybrid PD-Servo State Feedback Control Algorithm for Swing up Inverted Pendulum System

  • Nundrakwang, Songmoung;Benjanarasuth, Taworn;Ngamwiwit, Jongkol;Komine, Noriyuki
    • 제어로봇시스템학회:학술대회논문집
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    • pp.690-693
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    • 2005
  • In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

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