文章基本信息

标题：On the equivalence between PD+DOB and PID controllers applied to servo drives
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作者：Rubén Garrido ; J. Luis Luna
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：4
页码：95-100
DOI：10.1016/j.ifacol.2018.06.044
语种：English
出版社：Elsevier
摘要：AbstractThis work shows that a Proportional Derivative controller with weighted Derivative action plus a Disturbance Observer, is equivalent to a Proportional Integral Derivative (PID) controller with weighted Proportional and Derivative actions, when they are applied to servo drives. A byproduct of this equivalence is a tuning rule for the PID controller, called the DOB tuning, which is expressed in terms of the cutoff frequency of the filter employed in the DOB. Experiments in a laboratory testbed allow assessing the performance of a PID controller under the resulting tuning formulae.
关键词：KeywordsDisturbance observerPD controlPID controlcontroller tuningservo drive