Practical Control for Two-Mass Positioning Systems in Presence of Saturation
Abstract:
The precision positioning systems generally need a good controller to achieve a
fast response, high accuracy and robustness. In addition, ease, simplicity of
controller design structure and high motion control performance are very
important for practical applications. For satisfying these requirements,
nominal characteristic trajectory (NCT) with proportional integral (PI) and
notch filter (NF) as a compensator has been proposed as a practical control
method for two-mass rotary PTP positioning systems. However, the effect of the
actuator saturation cannot be completely compensated due to integrator windup
when the object parameter varies. This paper presents a method to further
improve nominal characteristic trajectory following (NCTF) controller to
overcome the problem of integrator windup by adopting PI anti-windup schemes.
The improved NCTF controller is evaluated experimentally using two-mass rotary
positioning systems. The effect of the design parameters on the robustness of
the improved NCTF with anti-windup integrator controller is evaluated and
compared with NCTF without anti-windup integrator and the equivalent PID
controller. The results show that the improved NCTF controller is effective to
compensate the effect of integrator windup.
Author: Fitri Yakub, Andika
Aji Wijaya, Mustafa Al-ani
Journal Code: jptkomputergg120029
