International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Concurrent Relay-PID Control for Motor Position Servo Systems

  • Li, Guomin (Axiomatic Technologies Corp.) ;
  • Tsang, Kai Ming (Department of Electrical Engineering, The Hong Kong Polytechnic University)
  • Published : 2007.06.30
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Abstract

A Concurrent Relay-PID controller (CRPID) for motor position servo systems is proposed in this paper. The proposed controller is composed of a deadband-relay subcontroller and a parallel PID subcontroller. The deadband-relay subcontroller is capable of improving the transient system performance while the PID subcontroller is responsible for near steady state system regulation. Systematic design methods for various controller components are developed. Design procedures are illustrated by an example. The proposed hybrid scheme is applied to a DC motor position servo system. Both numerical and experimental results demonstrate that the proposed controller performs satisfactorily and is superior to PID control alone.

Keywords

References

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