An I+PI controller with tuning rules based on damping and natural frequency is proposed for integrating processes with dead time, and is demonstrated on an AUV depth control simulation; the design ignores dead time in the feedback loop.
Disturbance Observer based Control of Integrating Processes with Dead-Time using PD controller
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abstract
The work presented here addresses the issue of tuning PD controllers for controlling integrating plus dead-time (IPDT) processes using settling time and gain and phase margin specifications. Tuning formulae are derived for PD controller being used for controlling IPDT processes. Simulations have been carried out to determine the effectiveness of the tuning formulae. Also, comparison between proposed and the other existing tuning methods with respect to performance indices, time domain specifications and the control effort expressed in terms of control signal energy has been done. Effects of gain margin and settling time specifications on process output responses have been discussed. A PD controller cannot account for load disturbances. So, a disturbance observer is suggested for use along with the PD controller. Regulatory and tracking responses are then compared with respect to performance indices and control effort.
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2019 1verdicts
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An I + PI Controller Structure for Integrating Processes with Dead-Time: Application to Depth Control of an Autonomous Underwater Vehicle
An I+PI controller with tuning rules based on damping and natural frequency is proposed for integrating processes with dead time, and is demonstrated on an AUV depth control simulation; the design ignores dead time in the feedback loop.