Ghosh Arun, Rakesh Krishnan T, Tejaswy Pailla, Mandal Abhisek, Pradhan Jatin K, Ranasingh Subhakant
School of Electrical Sciences, Indian Institute of Technology Bhubaneswar, Odisha 751013, India.
Department of Computer Science and Communication, KTH (Royal Institute of Technology), Stockholm, Sweden.
ISA Trans. 2014 Jul;53(4):1216-22. doi: 10.1016/j.isatra.2014.05.015. Epub 2014 Jun 16.
This paper employs a 2-DOF (degree of freedom) PID controller for compensating a physical magnetic levitation system. It is shown that because of having a feedforward gain in the proposed 2-DOF PID control, the transient performance of the compensated system can be changed in a desired manner unlike the conventional 1-DOF PID control. It is also shown that for a choice of PID parameters, although the theoretical loop robustness is the same for both the compensated systems, in real-time, 2-DOF PID control may provide superior robustness if a suitable choice of the feedforward parameter is made. The results are verified through simulations and experiments.
本文采用二自由度（DOF）PID控制器对物理磁悬浮系统进行补偿。结果表明，由于所提出的二自由度PID控制具有前馈增益，与传统的一自由度PID控制不同，补偿系统的瞬态性能可以按期望的方式改变。还表明，对于PID参数的选择，尽管两个补偿系统的理论回路鲁棒性相同，但在实时情况下，如果对前馈参数进行适当选择，二自由度PID控制可能会提供更好的鲁棒性。通过仿真和实验对结果进行了验证。
