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PID auto-tuning for simultaneously fulfilling the requirements of relative stability and steady-state error

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Abstract

Proportional-integral-derivative (PID) control is commonly used in industrial automatic control systems. However, it is not straightforward to determine control gains in a PID controller for satisfactory closed-loop performance. Many research works have been devoted to the auto-tuning of PID control gains. In contrast to previous studies, this paper develops an auto-tuning rule for PID controllers to simultaneously satisfy specifications of both steady-state error and relative stability, in which stability is specified in terms of phase margin. To illustrate the proposed auto-tuning rule, a focus servo of an optical disk drive is used, in which a voice coil motor drives a lens to focus a laser beam on a data layer of an optical disk. Experimental results show the effectiveness of the proposed PID auto-tuning process.

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Acknowledgements

This work was supported by the Ministry of Science and Technology, Taiwan [grant no. MOST 109-2221-E-003-022].

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Authors and Affiliations

  1. National Taiwan Normal University, Taipei, Taiwan

    Yu-Sheng Lu & Tsang-Shiuan Tsai

  2. National Yunlin University of Science and Technology, Yunlin, Taiwan

    Chien-Chih Huang & Chung-Hsin Cheng

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  1. Yu-Sheng Lu
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  2. Tsang-Shiuan Tsai
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  3. Chien-Chih Huang
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  4. Chung-Hsin Cheng
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Correspondence to Yu-Sheng Lu.

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Lu, YS., Tsai, TS., Huang, CC. et al. PID auto-tuning for simultaneously fulfilling the requirements of relative stability and steady-state error. Artif Life Robotics 26, 162–168 (2021). https://doi.org/10.1007/s10015-020-00661-z

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  • DOI: https://doi.org/10.1007/s10015-020-00661-z

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