Reset integral control for improved settling of PID-based motion systems with friction

• Autores: Roland Behrens, Andrea Bisoffi, L. Zaccarian, W.P.M.H. Heemels, H. Nijmeijer, N. van de Wouw
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 107, 2019, págs. 483-492
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.