Velocity control of servo systems using an integral retarded algorithm

Ramírez, Adrián; Garrido, R.; Mondié, Sabine

doi:10.1016/j.isatra.2015.04.008

Cited by 50 publications

(32 citation statements)

References 34 publications

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“…In the case of the PR, IR, and PIR algorithms, a solution to these problems consists of imposing a stable dominant triple root to the closed-loop system producing the maximum exponential decay rate. [9][10][11] This methodology is generalized for linear time-invariant, single-input, single-output (LTI-SISO) systems. 12 It is also worth remarking that besides the parallel PID controller, there exist alternative topologies applied in industry for controlling servodrives.…”

Section: Or High-passmentioning

confidence: 99%

“…More recent contributions focused on stabilization of linear systems, including chains of integrators, 6 single-input single output systems, 7,8 and the development of tuning formulae. [9][10][11][12] Delay-based controllers also have several advantages from a practical point of view. Implementing delay-based controllers is straightforward using a digital signal processor since a time-delay is easily generated using memory registers.…”

Section: Introductionmentioning

confidence: 99%

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Cascade proportional integral retarded control of servodrives

López

Garrido

Mondié

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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The goal of this work is to propose a new time-delay control law called the cascade proportional integral retarded controller, which is aimed at position control of DC servodrives. The proposed controller has a cascade inner loop-outer loop structure. The inner loop is endowed with an integral retarded algorithm, and regulates the servodrive angular velocity. A proportional controller closes the outer loop whose goal is to regulate the servodrive angular position. The tuning of the cascade proportional integral retarded controller is accomplished into two steps. In the first step, the velocity of the inner loop is tuned by assigning a triple dominant root. The second step tunes the outer position loop. It is also possible to modify the cascade proportional integral retarded controller to avoid velocity measurements without adding extra filters. Moreover, the cascade topology of the cascade proportional integral retarded controller makes it easy to introduce a nonlinear saturated gain in the outer loop. This controller termed as the cascade nonlinear proportional integral retarded controller prevents overshoots for large values of the set point, avoids excessive control effort, and maintains a prescribed value of the angular velocity. Experiments in real-time using a laboratory prototype allow assessing the performance of the proposed controllers. Keywords Time-delay controller, cascade control, integral retarded algorithm, proportional integral retarded control law, cascade nonlinear proportional integral retarded controller, DC servodrive, tuning, real-time control Date

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Section: Or High-passmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Cascade proportional integral retarded control of servodrives

López

Garrido

Mondié

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

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“…e idea of deliberately introducing time delays in closed-loop systems and considering it as a control parameter is not a novel approach, but it has been intensively studied in recent years, see [18][19][20] and the references therein. e analysis of such class of controllers focuses mainly on the following topics: characterization of the stability crossing curves [21], tuning of delayed controllers to stabilize second-order systems [18,20,22] (and its noise attenuation analysis [23]), the design of proportional integral controllers for second-order linear systems [19,24], and design of maximum decay rate using elimination theory [25]. Particularly in [26], a Proportional Integral Retarded (PIR) controller to solve the regulation problem of a general class of stable second-order LTI systems is presented.…”

Section: Introductionmentioning

confidence: 99%

σ‐Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

et al. 2019

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In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed. Based on the D-decomposition methodology and σ-stability analysis, analytic conditions are determined on the parameters of a delayed controller that guarantee us that the system response reaches the maximal decay rate. The conditions presented in this paper are tested experimentally in tracking tasks of a flexible joint robotic arm.

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“…DC motors have a vast usage range: starting with children's toys, through house appliances, computer equipment, to the automobile industry -for example [2]. It is well known that the dynamic behavior of the direct current (DC) motor can be approximated by a linear model and that there are multiple ways of its control [3], such as robust speed control [4], predictive control [5], optimal control [6], the application of the integral retarded algorithm [7], etc. The proportional integral (PI) system for controlling the speed of a DC motor communicated by TCP/IP and the Ethernet network is presented and analyzed in [8], wherefrom it can be seen that delay affects the stability of the system.…”

Section: Introductionmentioning

confidence: 99%

The usage of Lambert W function for identification and speed control of a DC motor

Gerov

Jovanović

2019

FACTA U EE

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The paper proposes a new method of identifying the linear model of a DC motor. The parameter estimation is based on the closed-loop step response of the DC motor under a proportional controller. For the application of the method, a deliberate delay of the measured speed was introduced. The paper considers the speed regulation of the direct current motor with negligible inductance by applying 1-DOF and 2-DOF, proportional integral retarded controllers. The proportional and integral gain of the PI retarded controllers was received by using a pole placement method on the identified model. The Lambert W function was applied for the identification and in designing the controller with the purpose of finding the rightmost poles of the closed-loop as well as the boundary conditions for selecting the gain of the PI controller. The robustness of the calculated controllers was considered under the effect of an disturbance, uncertainty in each of the DC motor parameters as well as perturbations in time delay.

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Velocity control of servo systems using an integral retarded algorithm

Cited by 50 publications

References 34 publications

Cascade proportional integral retarded control of servodrives

Cascade proportional integral retarded control of servodrives

σ‐Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

The usage of Lambert W function for identification and speed control of a DC motor

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