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Practical approach to mid-ranging control of double-unit actuating systems
Pawel Nowak1, Patryk Grelewicz1, Michal Fratczak1
1Silesian University of Technology, Faculty of Automatic Control, Electronics and Computer Science, Department of Automatic Control and Robotics, Gliwice 44100, Poland.
ISA Transactions
|September 21, 2024
Summary
This study enhances control for double-unit actuator systems using a novel design framework and feedforward compensation. The improved mid-ranging control system (MCS) achieves significant performance gains, demonstrating robust control strategies.
Area of Science:
- Control Systems Engineering
- Robotics and Automation
Background:
- Controlling complex systems with multiple actuators presents significant challenges.
- Conventional mid-ranging control systems (MCS) often struggle with optimal controller cooperation.
Purpose of the Study:
- To develop a robust framework for designing and tuning MCS for double-unit actuator systems.
- To enhance MCS performance through a universal modification involving a feedforward compensator.
Main Methods:
- A step-by-step design and tuning framework based on the D-partition method.
- Implementation of a feedforward compensator to augment the existing MCS structure.
Main Results:
- Quantitative improvements in system performance, ranging from 16% to 26% in selected cases.
- Validation of the proposed methods through both numerical simulations and experimental tests.
Conclusions:
- The proposed D-partition-based framework effectively improves controller cooperation in MCS.
- The addition of a feedforward compensator offers a universal and effective method for enhancing MCS performance.
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