International Journal of Precision Engineering and Manufacturing

  • 제9권4호
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  • Pages.39-44
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  • 2008
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  • 2234-7593(pISSN)
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  • 2005-4602(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

A Systematic Gain Tuning of PID Controller Based on the Concept of Time Delay Control

  • Lee, Jeong-Wan (Division of Mechanical and Mechatronics Engineering, Kangwon National University)
  • 발행 : 2008.10.01
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초록

In this paper, through the study of discrete implementation of time delay control (TDC) and PID control algorithm, a new systematic gain selection method for PID controller is proposed. An important advantage of this method is that it may be applied to real systems with very simple and systematic procedure. The proposed method is derived for SISO systems and then extended to MIMO system. Through simulation for the second order non-linear plant and experiment on 2-DOF robot, the effectiveness of the proposed method is confirmed. The proposed method could solve the problem of difficulty in gain tuning of existing PID controller.

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참고문헌

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