Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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PID Learning Controller for Multivariable System with Dynamic Friction

동적 마찰이 있는 다변수 시스템에서의 PID 학습 제어

  • 정병묵 (영남대학교 공과대학 기계공학부)
  • Published : 2007.12.01
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Abstract

There have been many researches for optimal controllers in multivariable systems, and they generally use accurate linear models of the plant dynamics. Real systems, however, contain nonlinearities and high-order dynamics that may be difficult to model using conventional techniques. Therefore, it is necessary a PID gain tuning method without explicit modeling for the multivariable plant dynamics. The PID tuning method utilizes the sign of Jacobian and gradient descent techniques to iteratively reduce the error-related objective function. This paper, especially, focuses on the role of I-controller when there is a steady state error. However, it is not easy to tune I-gain unlike P- and D-gain because I-controller is mainly operated in the steady state. Simulations for an overhead crane system with dynamic friction show that the proposed PID-LC algorithm improves controller performance, even in the steady state error.

Keywords

References

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