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Pragmatic Design Methods Using Adaptive Controller Structures for Mechatronic Applications with Variable Parameters and Working Conditions

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Complex Systems

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 55))

Abstract

This chapter treats two pragmatic design methods for controllers dedicated to mechatronic applications working under variable conditions; for such applications adaptive structures of the control algorithms are of great interest. Basically, the design is based on two extensions of the modulus optimum method and of the symmetrical optimum method (SO-m): the Extended SO-m and the double parameterization of the SO-m (2p-SO-m). Both methods are introduced by the authors and they use PI(D) controllers that can ensure high control performance: increased value of the phase margins, improved tracking performance, and efficient disturbance rejection. A short and systematic presentation of the methods and digital implementation aspects using an adaptive structure of the algorithms for industrial applications are given. The application deals with a cascade speed control structure for a driving system with continuously variable parameters, i.e., electrical drives with variable reference input, variable moment of inertia and variable disturbance input.

“The PID controller can be said to be ‘the bread and the butter’ of the control engineering”.

(K.-J. Åström)

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Abbreviations

SO-m:

Symmetrical Optimum method

Mo-M:

Modulus Optimum method

ESO-m:

Extended Symmetrical Optimum method

2p-SO-m:

Double parameterization of the SO-m

2-DOF:

Two Degree of Freedom

VMI:

Variable Moment of Inertia

t.f.:

Transfer function

c.a.:

Control algorithm

C-VR-MI-LD:

Continuously Variable Reference, Moment of Inertia and Load Disturbance

DC-m, BLDC-m:

DC-motors, Brush-Less DC-motors

MM:

Mathematical Model

CS:

Control Structure

CCS:

Cascade Control Structure

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Acknowledgments

This work was supported by a grant in the framework of the Partnerships in priority areas—PN II program of the Romanian National Authority for Scientific Research ANCS, CNDI - UEFISCDI, project number PN-II-PT-PCCA-2011-3.2-0732, by a grant of the Romanian National Authority for Scientific Research, CNCS - UEFISCDI, project number PN-II-ID-PCE-2011-3-0109. Also, the work was partially supported by the strategic grant POSDRU ID 77265 (2010) of the Ministry of Labor, Family and Social Protection, Romania, co-financed by the European Social Fund—Investing in People.

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Authors and Affiliations

  1. Department of Automation and Applied Informatics, “Politehnica” University of Timisoara, Bd. V. Parvan 2, 300223, Timisoara, Romania

    Stefan Preitl, Radu-Emil Precup, Alexandra-Iulia Stînean, Claudia-Adina Dragoş & Mircea-Bogdan Rădac

  2. Siemens A.G., Erlangen, Germany

    Zsuzsa Preitl

Authors
  1. Stefan Preitl
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  2. Radu-Emil Precup
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  3. Zsuzsa Preitl
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  4. Alexandra-Iulia Stînean
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  5. Claudia-Adina Dragoş
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  6. Mircea-Bogdan Rădac
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Correspondence to Stefan Preitl .

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Editors and Affiliations

  1. School of Electrical Engineering an, St. Cyril and St. Methodius Univers, Skopje, Macedonia

    Georgi M. Dimirovski

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Preitl, S., Precup, RE., Preitl, Z., Stînean, AI., Dragoş, CA., Rădac, MB. (2016). Pragmatic Design Methods Using Adaptive Controller Structures for Mechatronic Applications with Variable Parameters and Working Conditions. In: Dimirovski, G. (eds) Complex Systems. Studies in Systems, Decision and Control, vol 55. Springer, Cham. https://doi.org/10.1007/978-3-319-28860-4_30

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  • DOI: https://doi.org/10.1007/978-3-319-28860-4_30

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