A practical iterative PID tuning method for mechanical systems using parameter chart

ABSTRACT

In this paper, we propose a method of iterative proportional-integral-derivative parameter tuning for mechanical systems that possibly possess hidden mechanical resonances, using a parameter chart which visualises the closed-loop characteristics in a 2D parameter space. We employ a hypothetical assumption that the considered mechanical systems have their upper limit of the derivative feedback gain, from which the feasible region in the parameter chart becomes fairly reduced and thus the gain selection can be extremely simplified. Then, a two-directional parameter search is carried out within the feasible region in order to find the best set of parameters. Experimental results show the validity of the assumption used and the proposed parameter tuning method.

KEYWORDS:

• PID control
• gain tuning
• mechanical resonance
• parameter chart

Acknowledgment

This work was supported partly by the Ministry of Trade, Industry & Energy and the Korea Evaluation Institute of Industrial Technology (KEIT) [program number 10048920], and partly by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education [grant number 2015R1D1A1A01060319].

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported partly by the Ministry of Trade, Industry & Energy and the Korea Evaluation Institute of Industrial Technology (KEIT) [program number 10048920], and partly by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education [grant number 2015R1D1A1A01060319].

Notes on contributors

M. Kang

Minsung Kang received his B.S. and M.S. degrees in the Department of Control and Instrumentation Engineering from Korea University, Sejong, Korea, in 2014 and 2016, respectively. His research interests include robot motion control, robot calibration and computer vision.

J. Cheong

Joono Cheong received B.S., M.S. and Ph.D. from Pohang University of Science and Technology (POSTECH) in 1995, 1997 and 2003, respectively. In 2003, he was a Researcher with the Institute of Precision Machine and Design, Seoul National University, Seoul. From 2003 to 2005, he was a Postdoctoral Researcher of the Research Laboratory of Electronics at Massachusetts Institute of Technology, Cambridge, MA. Since 2005, he has been with the Department of Control and Instrumentation Engineering, Korea University, Sejong, where he is current a Professor. He is the Director of the Laboratory for Advanced Robotics at Korea University. His research interests are robotic manipulation, grasping, and mechanical systems control.

H.M. Do

Hyun Min Do received his B.S. and M.S. and Ph.D. degrees in the School of Electrical Engineering from Seoul National University, Seoul, Korea, in 1997, 1999, and 2004, respectively. From 2004 to 2007, he was with the Hyundai Mobis and the Hyundai Motor Company, Korea, where he was a Senior Research Engineer. From 2007 to 2010, he was with the National Institute of Advanced Industrial Science and Technology (AIST), Japan, where he was a Postdoctoral Research Fellow. In 2010, he joined the Korea Institute of Machinery and Materials (KIMM), where he is a Principal Researcher of Department of Robotics and Mechatronics. His research interests are intelligent control of robotic system, robot safety and adaptive and learning control.

Y. Son

Young-su Son received his Ph.D. degree in electronic engineering from Dong-guk University, Seoul, Korea, in 1997. Now he is a principal researcher of Department of Robotics and Mechatronics. at Korea institute of machinery & materials(KIMM). His current research interests include the cooperation robot and smart actuators.

S.-I. Niculescu

Silviu-Iulian Niculescu received his B.S. degree from the Polytechnical Institute of Bucharest, Romania, the M.Sc., and Ph.D. degrees from the Institut National Polytechnique de Grenoble, France, and the French Habilitation (HDR) from Universite de Technologie de Compiegne, all in Automatic Control, in 1992, 1993, 1996, and 2003, respectively. He is currently Research Director at the CNRS (French National Center for Scientific Research) and the head of L2S (Laboratory of Signals and Systems), a joint research unit of CNRS with CentraleSupelec and Universite Paris-Sud located at Gif-sur-Yvette. He is author/coauthor of 10 books and of more than 475 scientific papers. His research interests include delay systems, robust control, operator theory, and numerical methods in optimization, and their applications to the design of engineering systems. He is the responsible of the IFAC Research Group on ``Time-delay systems" and he coordinates the Springer series "Advances in Delays and Dynamics" (ADD@S) since its creation in 2012. He served as Associate Editor for several journals in Control area, including the IEEE Transactions on Automatic Control (2003-2005). Dr. Niculescu was awarded the CNRS Silver and Bronze Medals for scientific research and the Ph.D. Thesis Award from INPG, Grenoble (France) in 2011, 2001 and 1996, respectively.