E-FRITを用いた空気圧サーボ系の力制御PIDコントローラ設計

摘要

PID control schemes have been widely used in most industrial systems due to its simplicity and ease of implementation. In this paper, we propose a novel method for proportional-integral-derivative （PID） controller tuning directly using the closed-loop test data without parametric model of plant. The extended fictitious reference iterative tuning （E-FRIT） algorithm does not require any parameters of the plant model but only experimental data collected from the closed-loop system. By using an E-FRIT, which is one of the PID controller parameters tuning that enables us to obtain the ideal parameters with only one-shot experiment, this paper constructs a fictitious reference signal for the pneumatic servo system such that we can tune the PID controller parameters for desired control performance. A simple optimization problem is formulated to determine an appropriate reference model for the controlled process, and we use the particle swarm optimization （PSO） as the optimization method. The effectiveness of the proposed method is evaluated by an experimental result of a force control of the pneumatic servo system.