Reset integral control for improved settling of PID-based motion systems with friction. (English) Zbl 1429.93163
Summary: 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.
MSC:
| 93C30 | Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) |
| 93D05 | Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory |
| 93B35 | Sensitivity (robustness) |
| 70F40 | Problems involving a system of particles with friction |
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