Cited 0 time in webofscience Cited 0 time in scopus

A Design Method of Robust PID Control by Using Backstepping Control with Time Delay Estimation and Nonlinear Damping

Title
A Design Method of Robust PID Control by Using Backstepping Control with Time Delay Estimation and Nonlinear Damping
Translated Title
시간 지연을 이용한 추정과 비선형 댐핑을 이용하는 백스테핑 컨트롤을 기반으로 하는 강인 PID 컨트롤의 디자인 방법
Authors
Lee, Jun Young
DGIST Authors
Lee, Jun Young; Chang, Pyung Hun; Moon, Jeon Il
Advisor(s)
Chang, Pyung Hun
Co-Advisor(s)
Moon, Jeon Il
Issue Date
2013
Available Date
2016-05-18
Degree Date
2013. 2
Type
Thesis
Keywords
PID controlbackstepping controlnonlinear dampingtime delay estimation (TDE)PID 제어기시간 지연을 이용한 추정(TDE)비선형 댐핑(Nonlinear damping)백스테핑(backstepping) 제어PID controlbackstepping controlnonlinear dampingtime delay estimation (TDE)PID 제어기시간 지연을 이용한 추정(TDE)비선형 댐핑(Nonlinear damping)백스테핑(backstepping) 제어
Abstract
This thesis presents a design method of robust Proportional-integral-derivative (PID) control by using backstepping control with time delay estimation (TDE) and nonlinear damping. PID controllers are widely used as feedback control in many industrial control system fields. The structure of a PID control is simple and consists of three terms that include a proportional gain, an integral gain and a differential gain. The control makes its desired output by assigning PID gains that are required to control systems precisely after calculating the error between the desired input and output of systems. Gains of PID control have definite physical meaning. If these gains are tuned carefully, acceptable performance can be obtained since steady-state error and transient response are improved simultaneously. To select PID gains, many previous studies investigated methods of tuning PID control gains to get good performance. Methods of tuning gains are selected on the analytical basis of closed-loop stability and performance. Since PID controllers are linear models and many studies deal with linear plants, it is very difficult to select PID gains for nonlinear plants. Although many previous studies have been conducted such as Fuzzy control and optimal control, the methods proposed in these studies are very difficult and theoretically complex. As a result, PID gains are usually tuned heuristically. A systematic method was proposed by Chang et al. to select gains of robust PID control for nonlinear plants by using second-order controller canonical forms in discrete PID controllers from the viewpoint of a sampled-data system. In that study, although the plant model was unknown, the method was enabled to determine robust PID gains by using time delay control (TDC) when the plant has second-order controller canonical form and when TDC and PID controls are conducted in discrete time domain. Due to the equivalence to TDC, the gains of PID control were determined.TDC is a simple and effective technique for estimating system nonlinearities and uncertainties. This method uses the time delayed signal of system variables to estimate uncertainties of a system. While TDC has the advantage of requiring no prior knowledge of the system model, it also has the disadvantage of time delay estimation (TDE) error due to hard nonlinearities. It degrades the system stability and performance. When PID gains are tuned by using TDC with a system that has hard nonlinearities, system stability and performance cannot be guaranteed. To overcome TDE error and guarantee the stability of a system,backstepping control with TDE and nonlinear damping was proposed. Based on this method, in this paper, the equivalent relationship between PID control and backstepping control with TDE, nonlinear damping will be presented to select PID gains efficiently. While general PID controllers have constant gains, the proposed PID controller has variable PID gains due to nonlinear damping that uses the feedback state. In addition, the gains of the proposed PID control will be analyzed to identify the characteristics of the purposed controller. Since the proposed PID control uses the equivalent control method by backstepping control with TDE and nonlinear damping, it has the enhanced control performance and stability with respect to the difficulties presented above. ⓒ 2013 DGIST
Table Of Contents
Ⅰ. INTRODUCTION 1 -- 1.1 Motivations and objects 1 -- 1.2 Dissertation structure 4 -- Ⅱ. Preliminaries 5 -- 2.1 Target System and Control Objective 5 -- 2.2 Preliminaries 6 -- 2.2.1 Backstepping control 6 -- 2.2.2 Time Delay Estimation (TDE) 7 -- 2.2.3 Nonlinear damping 9 -- 2.3 Backstepping control with TDE , nonlinear damping 11 -- 2.3.1 Outline 11 -- 2.3.2 Control design 12 -- 2.3.3 Stability analysis 16 -- Ⅲ. The Design of Variable PID Control and Overviews 21 -- 3.1 Introduction 21 -- 3.2 The design of variable PID control 22 -- 3.2.1 PID control in the discrete time domain 22 -- 3.2.2 Backstepping control with TDE, nonlinear damping in discrete time domain 24 -- 3.2.3 The Relationship between PID control with Backstepping control with TDE, nonlinear damping in discrete time domain 25 -- 3.2.4. A constant dc-bias vector uDC 27 -- 3.3 Consideration of variable structure PID control 28 -- 3.4 Comparison with the previous study 30 -- 3.5 Simple method to design proposed PID control by the previous study 32 -- 3.6 Conclusion 33 -- Ⅳ. Simulation 34 -- 4.1 Introduction 34 -- 4.2 One-link robot manipulator 34 -- 4.2.1 Simulation setup 34 -- 4.2.2 Design of controllers 36 -- 4.2.3 Simulation results 37 -- 4.3. Two-link robot manipulator 43 -- 4.3.1 Simulation setup 43 -- 4.3.2 Design of controllers 45 -- 4.3.3 Simulation results 47 -- 4.4. Conclusion 58 -- Ⅴ. Experiment 59 -- 5.1 Introduction 59 -- 5.2 Experiment 59 -- 5.2.1 Experimental setup 59 -- 5.2.2 Design of controllers 61 -- 5.2.3 Experimental results 64 -- 5.3 Conclusion 77 -- Ⅵ. Conclusion 78
URI
http://hdl.handle.net/20.500.11750/1306
http://dgist.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002262491
DOI
10.22677/thesis.2262491
Degree
Master
Department
Robotics Engineering
University
DGIST
Files:
Collection:
Robotics EngineeringThesesMaster


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE