Sökning: (WFRF:(Taylor James))
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A Nonlinear PID Aut...
A Nonlinear PID Autotuning Algorithm
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Taylor, James H. (författare)
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- Åström, Karl Johan (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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(creator_code:org_t)
- 1986
- 1986
- Engelska.
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Ingår i: Proceedings of the 1986 American Control Conference : Seattle Sheraton Hotel and Towers, Seattle, WA, June 18-20, 1986 - Seattle Sheraton Hotel and Towers, Seattle, WA, June 18-20, 1986. ; , s. 2118-2123
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http://dx.doi.org/10...
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Abstract
Ämnesord
Stäng
- A nonlinear autotuning regulator algorithm is obtained via a direct combination of the Åström-Hägglund algorithm for the linear case [1] with the sinusoidal-input describing function (SIDEF) approach to nonlinear compensator synthesis of Taylor and Strobel [2]. The basic approach for linear autotuning proceeds as follows: a. install a relay with hysteresis in series with the unknown plant to be controlled; close a unitygain feedback loop around this combination; b. choose several values of hysteresis so that this system exhibits limit cycles; the frequencies and amplitudes of the oscillation at the output of the plant determine points on the plant Nyquist plot; and c. given points on the plant Nyquist plot, set the PID controller gains using an appropriate tuning algorithm (e.g., Ziegler-Nichols). This approach produces good results if the plant is liner or nearly so; however, if the plant behavior is strongly amplitude-dependent, there are likely to be problems with implementing this algorithm. The nonlinear autotuning regulator algorithm which extends the above approach to handle situations where the plant behavior is strongly amplitude-dependent is based on the SIDF approach. In essence, SIDF input/output (I/O) models of the compensated nonlinear system are exploited to directly synthesize a compensator nonlinearity that eliminates or reduces the amplitude dependence of the open-loop I/O relation. The nonlinear synthesis portion of this algorithm is reasonably simple to implement, has been shown to be effective [2], and should be of practical utility. An example application to a precision position control system is provided as an illustration.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)