International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
권호 표지
DOI QR코드

DOI QR Code

ECAM Control System Based on Auto-tuning PID Velocity Controller with Disturbance Observer and Velocity Compensator

  • Tran, Quang-Vinh (Department of Intelligent System Engineering, Dong-Eui University) ;
  • Kim, Won-Ho (Department of Mechatronics Engineering, Dong-Eui University) ;
  • Shin, Jin-Ho (Department of Mechatronics Engineering, Dong-Eui University) ;
  • Baek, Woon-Bo (Department of Mechatronics Engineering, Dong-Eui University)
  • Received : 2009.11.27
  • Accepted : 2010.02.12
  • Published : 2010.06.25
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposed an ECAM (Electronic cam) control system which has simple and general structure. The proposed cam controller adopted the linear and polynomial curve-fitting method to generates a smooth cam profile curve function. Smooth motion trajectory of master actuator guarantees the good performance of slave motion and has an important effect on the interpolation quality of ECAM. The auto-tuning PID velocity controller was applied to overcome the uncertainties in ECAM, and the gains of the controller are updated continuously to ensure the consistency of system performance under varying working conditions. The robustness of system against the varying load torque disturbances and noises is guaranteed by using the load torque disturbance observer to suppress the disturbance on master actuator. The velocity compensator was applied to compensate the degradation of performance of slave motion caused from the varying driving speed of master motion. The stability and validity of the proposed ECAM control system was verified by simulation results.

Keywords

References

  1. C. S. Liao, S. L. Jeng, W. H. Chieng, “Electronic cam motion generation with special reference to constrained velocity, acceleration, and jerk”, ISA Transaction, vol. 43, pp. 427-443, 2004. https://doi.org/10.1016/S0019-0578(07)60159-1
  2. H. S. Yan, M. C. Tsai, M. H. Hsu, “An experiment study of the effects of cam speeds on cam-follower systems”, Mech. Mach Theory, vol. 31, no. 4, pp. 397-412, 1996. https://doi.org/10.1016/0094-114X(95)00087-F
  3. J. Wang, T. C. Tsao, “Repetitive control of linear time varying systems with application to electronic cam motion control”, Proceeding of the 2004 American Control Conference, Boston, Massachusetts, June 30-July 2, 2004.
  4. Y. H. Chang, W. H. Chieng, “A novel master switching method for electronic cam control with special reference to multi-axis coordinated trajectory following”, Control Engineering Practice, vol. 14, pp. 107-120, 2006. https://doi.org/10.1016/j.conengprac.2005.01.012
  5. D. H. Kim, T. C. Tsao, “Robust performance control of electrohydraulic actuators for electronic cam motion generation”, IEEE Transaction on Control System Technology, vol. 8, no. 2, March 2000. https://doi.org/10.1109/87.826793
  6. K. Hong, K. H. Nam, “A load torque compensation scheme under the speed measurement delay”, Transactions on Industrial Electronics, vol. 45, no. 2, April 1998.
  7. M. Mizuochi, T. Tsuji, K. Ohnishi, “Improvement of disturbance suppression based on disturbance observer”, Proceeding of the 9th International Workshop on Advanced Motion Control (AMC’06), Istanbul, Turkey, March 2006.
  8. Y. P. Yang, C. F. Fang, “Adaptive speed control of AC servo induction motors with on-line load estimation”, Proceeding of the American Control Conference, Baltimore, Maryland, June, 1994.
  9. Z. Iwai, I. Mizumoto, L. Liu, S. L. Shah, H. Jiang, “Adaptive stable PID controller with parallel feedforward compensator”, Proceeding of the 9th International Conference on Control, Automation, Robotics and Vision (ICARCV), Grand Hyatt, Singapore, December 2006.
  10. W. Tan, J. Z. Liu, T. W. Tan, H. J. Marquez, “Comparison of some well-known PID tuning formulas”, Computers and Chemical Engineering, vol. 30, pp. 1416-1423, 2006. https://doi.org/10.1016/j.compchemeng.2006.04.001

Cited by

  1. Implementation of Fuzzy Self-Tuning PID and Feed-Forward Design for High-Performance Motion Control System vol.14, pp.2, 2014, https://doi.org/10.5391/IJFIS.2014.14.2.136