An autotuning procedure for motion control of oscillatory mechatronic systems
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F19%3A43956464" target="_blank" >RIV/49777513:23520/19:43956464 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/document/8869039" target="_blank" >https://ieeexplore.ieee.org/document/8869039</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ETFA.2019.8869039" target="_blank" >10.1109/ETFA.2019.8869039</a>
Alternative languages
Result language
angličtina
Original language name
An autotuning procedure for motion control of oscillatory mechatronic systems
Original language description
In this paper an automatic tuning procedure for a cascade position control architecture of general mechatronic systems is presented. The proposed procedure firstly estimates the transfer function of the system by analysing its open-loop response to a signal specifically designed in order to satisfy the system position, velocity and torque constraints. Then, if present, oscillatory behaviours are detected by finding the (anti)resonances of the frequency response. Parametric tuning rules are eventually defined for the PID controllers and for the biquadratic filters. Results obtained by implementing the procedure on a Hardware In the Loop setup demonstrate the effectiveness of the method.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
ISBN
978-1-72810-303-7
ISSN
1946-0740
e-ISSN
1946-0759
Number of pages
7
Pages from-to
829-835
Publisher name
IEEE Inc.
Place of publication
Piscataway, NY
Event location
Zaragoza, Spain
Event date
Sep 10, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—