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Article Dans Une Revue Automatica Année : 2019

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

Résumé

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.

Dates et versions

hal-02324583 , version 1 (22-10-2019)

Identifiants

Citer

R. Beerens, A. Bisoffi, Luca Zaccarian, W.P.M.H. Heemels, H. Nijmeijer, et al.. Reset integral control for improved settling of PID-based motion systems with friction. Automatica, 2019, 107, pp.483-492. ⟨10.1016/j.automatica.2019.06.017⟩. ⟨hal-02324583⟩
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