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
收藏
页码：483 / 492
页数：10
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