I need to design PID controller for stepper motor, in order to remove the resonance effect of the stepper and also eliminate the velocity error, and increasing the raising time.
which poles should I use ?
where is the Transfer function? should I use the transfer function of the gate drive or the stepper motor itself?
Dear Sir,
Can you give some more info on the problem ?.
- Do you need to control the speed or the position ?.
(for speed, you need a PI controller, for position, a PID)
- What error signal do you intend to use ?.
Best Regards,
Henri.
Dear Samer Mkhemer,
You may done it by in continuous domain at first then you convert it to digital domain. if you try to develop PID controller in Digital domain then some data will losses. First, u select the system then fit a controller properly with several traditional (Z-N,C-C etc.)and advanced method (PSO, BF, FZY etc.) ...second determine the proper error less PID controller with error less output. then you convert the system digital domain by very easy command in MATLAB (C2D)...mind it the sampling frequency is very vital for it. one of my paper may help you to develop MATLAB code ...http://www.ijsrp.org/research-paper-0812/ijsrp-p0823.pdf .....Thank you...
Please refer to these articles:
https://www.researchgate.net/publication/313576646_From_PID_to_Nonlinear_State_Error_Feedback_Controller
https://www.researchgate.net/publication/312046377_Improved_Sliding_Mode_Nonlinear_Extended_State_Observer_based_Active_Disturbance_Rejection_Control_for_Uncertain_Systems_with_Unknown_Total_Disturbance
https://www.researchgate.net/publication/309655805_On_the_Improved_Nonlinear_Tracking_Differentiator_based_Nonlinear_PID_Controller_Design
Article From PID to Nonlinear State Error Feedback Controller
Article Improved Sliding Mode Nonlinear Extended State Observer base...
Article On the Improved Nonlinear Tracking Differentiator based Nonl...
Hi, can you help me? If I want to control position, how can I obtain the transfer function? I mean, what are my input and output?
Hi Daniel Felipe Romero Bernal,
For a pure mechanical system, the motion control is generally described by the 2nd-order differential equation. The transfer function of such mechanical system is generally given by "b/(s2 + a1·s + a2)". If the system is linear and time-invariant, the transfer function can be obtained by applying the Laplace transforms to the differential equation.
The inputs to the controller are the error position and error velocity. The output of the controller is either the force (for translational motion) or the torque (for rotational motion). If the velocity measurement is not available for feedback, then output feedback control design methods are needed.
There are various examples of position control that you can find online.
http://ctms.engin.umich.edu/CTMS/index.php?aux=Home
Hi Yew-Chung Chak thanks for your reply, I'm not sure if I'm ok, I'm using a stepper motor nema 23, and driver TB6600, but I want to design close loop control, so I though identify my transfer function with ident from Matlab, but I can't decide what is my input to plant, ¿is the output of TB6600 the input to plant?. I connected like next diagram
Hi Daniel Felipe Romero Bernal,
I'm confused by both of your posts. Is the stepper motor the actuator, or the plant? I can only provide you the general guidelines. No matter what your motor is, in position control, you need to develop the equations of motion, which is generally a 2nd-order mechanical system. With the model, you can design a PID controller to stabilize it. When the stability is achieved, you can convert the PID controller into a digital controller for practical implementation.
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