This paper introduces a simple and effective method for selecting the maximum feedback gains in PD-type controllers applied to actuators where feedback delay and derivative signal filtering are present. The method provides the maximum feedback parameters that satisfy a phase margin criteria, producing a closed-loop system with high stability and a dynamic response with near-minimum settling time. Our approach is unique in that it simultaneously possesses: (1) a model of real-world performance-limiting factors (i.e., filtering and delay), (2) the ability to meet performance and stability criteria, and (3) the simplicity of a single closed-form expression. A central focus of our approach is the characterization of system stability through exhaustive searches of the feedback parameter space. Using this search-based method, we locate a set of maximum feedback parameters based on a phase margin criteria. We then fit continuous equations to this data and obtain a closed-form expression which matches the sampled data to within 2–4% error for the majority of the parameter space. We apply our feedback parameter selection method to two real-world actuators with widely differing system properties and show that our method successfully produces the maximum achievable nonoscillating impedance response.
A Closed-Form Solution for Selecting Maximum Critically Damped Actuator Impedance Parameters
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 18, 2014; final manuscript received July 26, 2014; published online November 7, 2014. Assoc. Editor: Hashem Ashrafiuon.
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Paine, N., and Sentis, L. (April 1, 2015). "A Closed-Form Solution for Selecting Maximum Critically Damped Actuator Impedance Parameters." ASME. J. Dyn. Sys., Meas., Control. April 2015; 137(4): 041011. https://doi.org/10.1115/1.4028787
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