PID Loop Shaping and Its Application to Positioning Control of Flexible Beam

• Main Authors: Ping-Hung Lin, 林品宏
• Other Authors: Ming-Tzu Ho
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/38248248457758318752

碩士 === 國立成功大學 === 工程科學系碩博士班 === 91 === The design concept of loop shaping is to determine the loop transfer function to satisfy performance design constrains on the Bode plot. However, the conventional loop shaping method suffers from the following drawbacks: (1) It usually happens that when the order of plant is higher, and the order of the resulting controller will become higher, too. This becomes a burden for implementing a controller by the programming languages or circuits. (2) Adjusting the loop transfer function for satisfying the robust performance condition on the Bode plot usually goes through a lot of trial and error. That is highly time-consuming, moreover the existence of the solution can’t be known beforehand. (3) The resulting controller may not be able to guarantee closed-loop stability. The main idea of this study is to use the PID controller in loop shaping method to improve those drawbacks of conventional loop shaping. Finally, we used the proposed PID loop shaping to achieve positioning control of a flexible beam, and to show feasibility of the proposed method in practice. A comparison between performance of the proposed PID loop shaping method and that of the Ziegler-Nichols method is also given.