Reset integral control for improved settling of PID-based motion systems with friction

被引：30

作者：

Beerens, R. ^{[1
]}

Bisoffi, A. ^{[2
]}

Zaccarian, L. ^{[3
,4
]}

Heemels, W. P. M. H. ^{[1
]}

Nijmeijer, H. ^{[1
]}

van de Wouw, N. ^{[1
,5
]}

机构：

[1] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands

[2] KTH Royal Inst Technol, Div Decis & Control Syst, SE-10044 Stockholm, Sweden

[3] Univ Toulouse, LAAS, CNRS, F-31400 Toulouse, France

[4] Univ Trento, I-38122 Trento, Italy

[5] Univ Minnesota, Civil Environm & Geoengn Dept, Minneapolis, MN 55455 USA

来源：

AUTOMATICA | 2019年 / 107卷

关键词：

Transient performance; Hybrid control; Motion control; Friction; Stability; DESIGN;

D O I：

10.1016/j.automatica.2019.06.017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine. (C) 2019 Elsevier Ltd. All rights reserved.

引用

页码：483 / 492

页数：10

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