I have created a Simulink model of PID controlled Bouc Wen MR damper semi active suspension. The feedback signal to PID is taken as sprung mass displacement and reference value is set to '0' (zero). The output of PID control is to be voltage signal for MR damper.
While trying to auto tune the PID controller, I am getting the error:
Linearization aborted because the linear plant model seen by the PID block is effectively '0'.
Ensure the PID loop is physically closed and none of the block in the PID loop returns '0' when linearized at time t = 0.
I have used saturation block after PID with upper limit 5 and lower 0. (as MR damper max input voltage is 5 volts and min is 0).
Error image is attached.
Hi Pankaj, note that the Saturation block is a Discontinuous function block. If the linearization is carried out at the operating region that contains the point of discontinuity, then the auto-tuner will produce poor linearization results. The PID auto-tuner block in your system is intended for continuous-time process.
https://www.mathworks.com/help/slcontrol/ug/plant-cannot-be-linearized-or-linearizes-to-zero.html
Mr. Zeashan Khan kindly find the Simulink Model of PID controlled semi active suspension with Bouc Wen MR damper for your kind perusal and suggestions.
Hi Yew, thanks a lot for your guidance. I will update the results after implementing the suggestions from your side for my model error.
Respected Zeashan Khan sir , my problem still not resolved, looking forward for your valuable suggestions. The simulink model i have shared. Auto Tuning of PID controller is showing the error.
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