Tuning P-PI and PI-PI controllers for electrical servos

Bulletin of the Polish Academy of Sciences. Technical Sciences

L. TrybusDepartment of Computer and Control Engineering, Rzeszów University of Technology, 2 Pola St., 35-959 Rzeszów, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  T. ?abi?skiDepartment of Computer and Control Engineering, Rzeszów University of Technology, 2 Pola St., 35-959 Rzeszów, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹ 

[1] Department of Computer and Control Engineering, Rzeszów University of Technology, 2 Pola St., 35-959 Rzeszów, Poland

关键词: Keywords: servomechanism;    tuning;    root locus;    P-PI;    PI-PI;    PID controllers;    tracking;   

DOI  :  10.2478/v10175-010-0005-7

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

Tuning rules for position and velocity controllers in P-PI and PI-PI electrical servomechanisms are developed using the root locus design method. P-PI controller is equivalent to PID controller with a set-point filter. PI-PI servo provides zero steady-state error for linear disturbances, which may be important for some tracking tasks. Three design data are needed to calculate the tunings, i.e. drive gain, settling time and control cycle. The development begins with continuous controllers for better understanding. Closed-loop transfer functions involve real multiple poles, so the responses are smooth, without overshoot. Upper limits on control cycles as fractions of settling times are given. Some experimental results are presented.

【 授权许可】

Unknown