Applications of a Reset Law to Internal Model Principle-Based Controller Design

• Main Authors: Jiun-Wei Gung, 龔峻瑋
• Other Authors: Yu-Sheng Lu
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/60567723752350460352

碩士 === 國立臺灣師範大學 === 機電科技學系 === 101 === Commonly-used liner integrator (LI) usually causes system overshoot. J. C. Clegg proposed a reset control element, called Clegg integrator (CI). The CI consists of an integrator whose output is set to zero whenever its input is zero, which can effectively reduce the maximum overshoot in output response. The internal model principle (IMP) states that when a control loop contains a disturbance model, the system can eliminate disturbance asymptotically. Similarly, when a control loop contains the model of a reference signal, the system can achieve prefect reference tracking. However, a control system designed nased on IMP usually gives output responses with great overshoot or oscillation. The CI with advance reset is added to the IMP-based control system in order to improve transient performance without sacrificing its capability of disturbance rejection. Experimental studies are conducted on a linear motion stage for positioning control. In the experimental system, the control kernel is a DSP/FPGA system, and the C language and VHDL are utilized as development tools for the servo control system. Experimental results demonstrate the effectiveness of the proposed reset law.