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首页> 外文期刊>Arabian Journal for Science and Engineering. Section A, Sciences >Real-Time Implementation of a Stable 2 DOF PID Controller for Unstable Second-Order Magnetic Levitation System with Time Delay
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Real-Time Implementation of a Stable 2 DOF PID Controller for Unstable Second-Order Magnetic Levitation System with Time Delay

机译：具有时间延迟的不稳定二阶磁悬浮系统的稳定2 DOF PID控制器的实时实现

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摘要

The design of a two degree of freedom (DOF) proportional–integral–derivative (PID) controller is proposed in this paper to stabilize an unstable second-order plant having time delay. The lower and upper bounds of the controller gains for which the compensated system will exhibit a stable response, is determined using Hermite–Biehler theorem. In order to determine the bounds of the controller gains, this work proposes an extension of the Hermite–Biehler theorem, suitable for the transfer function of the maglev plant, which contains a negative dc-gain and a missing ‘s' term in the denominator polynomial. The optimal values of the controller gains, from the range thus estimated, are found by a recent bio-inspired algorithm, namely symbiotic organisms search (SOS). The obtained results have been experimentally verified, and it has been validated that the 2-DOF PID controller exhibits better response. The robustness of the compensated system for 1-DOF and 2-DOF configurations, in the presence of external disturbance and measurement noise, has also been validated in real time, and it is observed that the 2-DOF PID controller improves the robustness of the system, as compared to its 1-DOF counterpart.
机译：在本文中提出了两度自由度（DOF）比例 - 积分 - 衍生物（PID）控制器的设计，以稳定具有时间延迟的不稳定的二阶工厂。使用Hermite-Biehler定理确定补偿系统的控制器增益的下限和上限。为了确定控制器增益的界限，这项工作提出了Hermite-Biehler定理的延伸，适用于Maglev植物的传递函数，其中包含负面的DC增益和缺失的术语多项式。通过最近的生物启发算法，即共生生物搜索（SOS），从如此估计的范围发现控制器增益的最佳值。获得的结果已经进行了实验验证，已经验证了2-DOF PID控制器表现出更好的反应。在存在外部干扰和测量噪声的情况下，在存在外部干扰和测量噪声的情况下，补偿系统的鲁棒性也是实时验证的，并且观察到2-DOF PID控制器提高了鲁棒性系统与其1-DOF对应物相比。

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