드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제14권4호
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  • Pages.23-28
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  • 2017
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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이산 TDCIM과 이산 PID 제어기 사이의 관계 규명

Identification of the Relationship Between the Discrete TDCIM and the Discrete PID Controller

  • 투고 : 2017.10.10
  • 심사 : 2017.11.21
  • 발행 : 2017.12.01
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초록

Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.

키워드

참고문헌

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피인용 문헌

  1. Tracking Control for an Electro-Hydraulic Rotary Actuator Using Fractional Order Fuzzy PID Controller vol.9, pp.6, 2017, https://doi.org/10.3390/electronics9060926