Development of a Two-stages E-FRIT Tuning Method for Generalized Two-degrees of Freedom PID Control System

This research showed the application of Proportional, Integral, and Derivative (PID) control system on heat equations that has non-integer ordered solutions on Laplace domain. Zala tuning method and Ziegler-Nichols method; which is ultimate cycle and process reaction method, are used to determine the value of Kp, Ti and Td as constants in PID to maintain the temperature of 1oC on the position of x = 3 m from the heat source with k = 0,042 m2s-1 diffusivity. Based on the results, there were ten systems that were closest in the desired criteria. With regards to overshoot and the time taken to reach the stable position, therefore the ten systems that are produced have not many differences in strengths and weaknesses.

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A Novel Two-Degrees-of-Freedom Voice Coil Motor and its PID Controllers for Linear and Rotary Motions

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.303-306.1635 ◽

2013 ◽

Vol 303-306 ◽

pp. 1635-1640

Author(s):

Xi Qing Jia ◽

Shou Bin Liu

Keyword(s):

Pid Control ◽

High Speed ◽

Control Algorithm ◽

Degrees Of Freedom ◽

Voice Coil Motor ◽

Settling Time ◽

Servo Control ◽

Pid Controllers ◽

Two Degrees Of Freedom ◽

Actual Environment

A two-degrees-of-freedom voice coil motor and its control system are proposed for linear and rotary motions with high speed. This VCM consists of two individual motion parts driven by two separated DSP embedded controllers. For servo control of the VCM, an improved PID control algorithm is adopted. The performance of the control algorithm is evaluated under actual environment. When the targets of position and angle are set at 5mm and 15°, the time response shows 48ms and 70.4ms settling time with 5μm and 3’ steady state error without overshoot. Settling time is reduced to 36% as compared to that of original PID controller.

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Mathematical Model of the Servo Drive with Friction Wheals. Simulations and Real Object Examination Results

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.198.15 ◽

2013 ◽

Vol 198 ◽

pp. 15-20 ◽

Cited By ~ 5

Author(s):

Lukasz Fracczak

Keyword(s):

Mathematical Model ◽

Cardiac Surgery ◽

Control System ◽

Simulation Model ◽

Degrees Of Freedom ◽

Point Of View ◽

Real Object ◽

Servo Drive ◽

Two Degrees Of Freedom ◽

The Mathematical Model

In this paper the servo drive with friction wheels is presented. The servo drive is designed to move the automatic laparoscope tool or laparoscope camera (thereinafter laparoscope sleeve or sleeve) in two Degrees of Freedom (DOF). The description of the drive mechanism, operating principle and mathematical model of this drive is presented. Based on this model, the Control System (CS) has been created, and used to the construction of a simulation model. The simulation illustrates the proper functionality of the mathematical model of the servo drive with the described CS. This paper also presents the servo drive test stand and the most important examination results from the point of view of using them in the cardiac surgery Robin Heart robot.

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