Affiliation:
1. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China
2. Key Laboratory of Intelligent Textile and Flexible Interconnection of Zhejiang Province, Hangzhou 310018, China
Abstract
For an engraving machine system with input dynamic disturbance and output random measurement noise, a two-degrees-of-freedom proportional integral derivative (2-DOF PID) control method based on the Kalman filter is firstly proposed in this paper, which can effectively reject the input disturbance and ensure the set point tracking performance of the controller. The 2-DOF controller consists of a disturbance rejection controller and a set point tracking controller. The disturbance rejection controller is composed of a PID controller based on a disturbance observer and expectation model. The parameters of the set point tracking controller are tuned using a differential evolution algorithm (DE), and the cumulative absolute error value (IAE) is used as the fitness function of the DE algorithm, which can improve the rationality of intelligent parameter tuning. In addition, the Kalman filter is also applied to deal with the output noise to suppress the influence of the output measurement uncertainty. Finally, compared with existing algorithms, the feasibility and superiority of the proposed algorithm are verified using numerical simulation and an experimental test.
Funder
Jiangsu Provincial Natural Science Foundation of China
Fundamental Research Funds for the Central Universities
Subject
Control and Optimization,Control and Systems Engineering
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