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Stable PID control strategy to remove limit cycle due to stribeck friction on DC servo motor
Tumbuan T.P.a, Nurprasetio I.P.a, Indrawantoa, Abidin Z.a
a Mechanical Design Research Group, Faculty of Mechanical and Aerospace Engineering, Institute of Technology, Bandung, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2018 Praise Worthy Prize S.r.l.-All rights reserved.DC servo motor, in conjunction with PID controller, is widely used for position control in various automation fields. However, the presence of Stribeck friction makes the system prone to experience limit cycle oscillation which can reduce control accuracy. In this research, a stable PID strategy, free from limit cycle oscillation, has been investigated. The investigation has been governed by Bendixson-Dullac criterion and circle stability criterion. Based on the analysis, a minimum value of Kd has been proposed to remedy the limit cycle oscillation. In addition, a maximum value of Ki/Kp has also been suggested to guarantee system stability. The analysis has nullified the notion that only PD controller can remove limit cycle oscillation.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text][/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Bendixson-dullac,Circle stability criterion,Dc servo motor,Limit cycle oscillation,Pid,Stribeck[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text]This work is supported by ITB under P3MI research grant 2017. I also want to express my deep gratitude to Dr. Agus Yodi Gunawan and Dr. Erma Suwastika for all the discussion on the topic of limit cycle oscillation and roots of 4th order polynomial.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.15866/ireaco.v11i4.14883[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]