This paper discusses a novel approach to tuning 2DOF PID controllers for a positional control system, with a special focus on filters. It is based on the multiple real dominant pole method, applicable to both standard and series PID control. In the latter case it may be generalized by using binomial nth order filters. These offer filtering properties scalable in a much broader range than those allowed by a standard controller. It is shown that in terms of a modified total variance, controllers with higher order binomial filters allow a significant reduction of excessive control effort due to the measurement noise. When not limited by the sampling period choice, a significant performance increase may be achieved by using third order filters, which can be further boosted using higher order filters. Furthermore, all of the derived tuning procedures keep the controller design sufficiently simple so as to be attractive for industrial applications. The proposed approach is applied to the position control of electrical drives, where quantization noise can occur as a result of angular velocity reconstruction using the differentiated outputs of incremental position sensors.
The paper deals with an analytical description of a controlled system using a linear planar dynamic crane model. The model is described by a set of linear differential equations that represent some simplification. This model is especially practical for the control design. Two-way control is designed for the planar model using both the pole placement method (PPM) and PID control. Simulations in MATLAB and experiments with a crane model in the Faculty of Mechanical Engineering of the Slovak University of Technology in Bratislava were performed to verify the control methods used. Simulation results demonstrate the usability of control methods in real industrial practice. and Príspevok sa zaoberá analytickým opisom riadeného systému s použitím lineárneho rovinného dynamického modelu žeriava. Model je opísaný sústavou lineárnych diferenciálnych rovníc, ktoré predstavujú určité zjednodušenie. Tento model je prakticky predovšetkým na návrh riadenia. Pre rovinný model je navrhnuté riadenie dvoma spôsobmi, a to pomocou pole placement metódy (PPM) aj s pomocou PID regulátora. Na verifikáciu použitých riadiacich metód boli vykonané simulácie v prostredí MATLAB aj experimenty s modelom žeriava v podmienkach Strojníckej fakulty Slovenskej technickej univerzity v Bratislave. Simulačné výsledky dokazujú použiteľnosť riadiacich metód v reálnych podmienkach priemyselnej praxe.