限定極配置法を用いたP-PI制御とPID制御の比較による改善検討

抄録

P-PI controller is often used for motor positioning system. It composes a cascade control system, which has inner velocity loop and outer position loop. P-PI controller is analyzed to have a Proportional element, Integral element and Differentiation element, and it can be classified a kind of a PID controller. We compare P-PI controller with PID controller in a practical condition in which the system has a calculation delay, using limited pole placement method which the author proposed. It becomes clear that P-PI control system has a constrain of pole assign of the closed loop. Improved system with feedforward controller is investigated to have no constrain of pole zero assign.