"Constant in Gain Lead in Phase" Element- Application in Precision Motion Control

This paper presents a novel "Constant in gain Lead in phase" (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase relationship and waterbed effect fundamentally limi...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2019-06, Vol.24 (3), p.1176-1185
Main Authors: Saikumar, Niranjan, Sinha, Rahul Kumar, HosseinNia, S. Hassan
Format: Article
Language:English
Subjects:
Frequency-domain analysis
Function analysis
Gain
Industries
Linear control
Mechatronics
Motion control
Nonlinear control
precision control
Proportional integral derivative
reset control
Stability analysis
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Summary:This paper presents a novel "Constant in gain Lead in phase" (CgLp) element using nonlinear reset technique. PID is the industrial workhorse even to this day in high-tech precision positioning applications. However, Bode's gain phase relationship and waterbed effect fundamentally limit performance of PID and other linear controllers. This paper presents CgLp as a controlled nonlinear element which can be introduced within the framework of PID allowing for wide applicability and overcoming linear control limitations. Design of CgLp with generalized first-order reset element and generalized second-order reset element (introduced in this paper) is presented using describing function analysis. A more detailed analysis of reset elements in frequency domain compared to existing literature is first carried out for this purpose. Finally, CgLp is integrated with PID and tested on one of the DOFs of a planar precision positioning stage. Performance improvement is shown in terms of tracking, steady-state precision, and bandwidth.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2019.2909082