The Journal of Korean Institute of Communications and Information Sciences (한국통신학회논문지)

The Korean Institute of Commucations and Information Sciences (한국통신학회)
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A New Loop Shaping Method for Design of Robust Optimal PID Controller

강인한 최적 PID 제어기 설계를 위한 새로운 루프 형성 기법

  • 윤성오 (삼성 에스원 기술연구소) ;
  • 서병설 (한양대학교 전자전기컴퓨터공학부)
  • Published : 2003.11.01
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Abstract

This paper presents a new loop shaping technique for design of robust optimal PID controllers in order to satisfy the performance requirements. PID controller can be designed by selecting the suitable weighting factors Q and R. This technique is developed by pushing all two zeros formed by PID controller closely to a larger pole of the second order plant. As a result, a good loop shaping is achieved in the high frequencies region on the Bode plot. For the robust optimal tuning of PID controller for second order system, a new loop shaping procedure is developed via LQR approach.

본 논문에서는 요구된 성능을 만족시키는 강인한 최적 PID 제어기 설계를 위한 새로운 루프 형성 기법을 제안 하고자 한다. 설계하고자 하는 PID 제어기의 영점들을 플랜트의 최대 극점에 근접하도록 가중치 요소 Q와 R을 선택하면 루프 형상이 고주파수 영역의 센서잡음 장벽으로부터 최대한 멀어지게 된다. 2차 시스템에 대하여 강인한 최적 PTD 제어기 설계가 가능한 새로운 루프 형성 기법은 LQR 방법에서 발전되었다.

Keywords

References

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