Velocity control of servo systems using an integral retarded algorithm.

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• Servo systems require precise velocity control for optimal performance.
• Traditional controllers can be sensitive to noisy measurements and may require complex filtering.
• Delay-based control offers potential advantages in robustness and implementation.

Purpose of the Study:

• To introduce a design technique for the Integral Retarded (IR) controller.
• To apply the IR controller to velocity control of servo systems.
• To develop an explicit tuning strategy for the IR controller based on desired system performance.

Main Methods:

• Spectral analysis of the closed-loop system.
• Assigning a triple real dominant root for system stability.
• Deriving an explicit tuning function for the IR controller parameters.
• Experimental validation on a laboratory servo system prototype.

Main Results:

• A systematic tuning strategy for the IR controller was established.
• The controller guarantees a specified exponential decay rate for closed-loop systems.
• The IR controller effectively utilizes noisy velocity measurements without filtering.
• The controller can operate using position information, eliminating the need for velocity sensors.
• Experimental results demonstrated the IR controller's effectiveness compared to a PI controller.

Conclusions:

• The proposed Integral Retarded (IR) controller design technique offers a robust solution for servo system velocity control.
• The spectral analysis-based tuning method provides explicit controller parameters for desired performance.
• The IR controller's ability to handle noisy data and use position information enhances its practical applicability.