The effects of controller saturation on dynamic characteristics of commercial positioning systems and their countermeasures

被引：0

作者：

Serikitkankul, Pakorn ^{[1
]}

Seki, Hiroaki ^{[1
]}

Hikizu, Masatoshi ^{[1
]}

Kamiya, Yoshitsugu ^{[1
]}

机构：

[1] Kanazawa Univ, Dept Mech Syst Engn, Ishikari, Hokkaido, Japan

来源：

2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年

关键词：

controller saturation; positioning system; nonlinear controller; overshoot countermeasure;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Commercial positioning systems usually consist of several cascade parts, such as a position controller, a velocity controller, a current controller, and an electric motor. Controller design is normally based on linear analysis; however, in practice, controllers frequently drive actuators into saturation, and, sometimes, controllers themselves saturate. Owing to the saturation effect in the servomotor systems, the linear analysis of the servo systems is not sufficient for controller design. Thus, in this paper, the effects of controller saturation on dynamic characteristics of servomotor drivers are investigated by using the numerical simulation; then, the nonlinear position controller for countermeasures of the saturation effects is proposed. The simulation results show that the saturation effect of the controllers degrade frequency responses of the servo system, and make overshoot occur, and they show that the proposed position controller could satisfy fast step responses with no overshoot.

引用

页码：4588 / +

页数：2