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LQR based MIMO-PID controller for the vector control of an underdamped harmonic oscillator
Abstract : Modulated-Demodulated control (or vector control) allows to simultaneously impose amplitude and phase of a resonator. Moreover, the working frequency in the case of discrete-controller is substantially lower than the resonance frequency. However, the design of a such controller can be complex. In this paper, we outline a design directly in the baseband. To do so, the oscillator is modelled as a non-dimensional Multi-Input-Multi-Output system. An optimal control (Linear Quadratic Regulator) framework can then be used to design the controller. Thanks to ad hoc performances criteria, the weighting matrices are systematically specified according to the desired closed-lop time response. The methodology is validated by an experimental results on a plate actuated using piezoelectric patches.
https://hal.univ-lille.fr/hal-03011326
Contributeur : Lilloa Université de Lille <>
Soumis le : vendredi 18 décembre 2020 - 12:49:56
Dernière modification le : samedi 19 décembre 2020 - 03:37:50
Contributeur : Lilloa Université de Lille <>
Soumis le : vendredi 18 décembre 2020 - 12:49:56
Dernière modification le : samedi 19 décembre 2020 - 03:37:50
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