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With the development of industrial and military equipment automation and modern control theory, many advanced control algorithms have been studied for controlling multiple motor axes, but PI or PID controllers are widely used in actual industrial sites. However, while PID controllers work well for linear systems, they are limited for nonlinear systems. In particular, it is not easy to adjust the gain when the order of the control object is high or there is a time delay, and if the dynamic characteristics of the control object are degraded even when the optimum gain is set, the PID gain need to be readjusted. In this study, a velocity-based gain scheduling algorithm was proposed when the dynamic characteristics of the control object were changed, and its performance was verified by applying it to actual equipment.

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A Study on the Velocity Based Gain Scheduled PID Controller

  • 会议论文

  • 发表日期：

    2025年

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  • Byounghee Kim,
  • Seongjun Cheon,
  • Sinwoo Song,
  • Jeongsang Kim,
  • Hyokmin Yoon

摘要

With the development of industrial and military equipment automation and modern control theory, many advanced control algorithms have been studied for controlling multiple motor axes, but PI or PID controllers are widely used in actual industrial sites. However, while PID controllers work well for linear systems, they are limited for nonlinear systems. In particular, it is not easy to adjust the gain when the order of the control object is high or there is a time delay, and if the dynamic characteristics of the control object are degraded even when the optimum gain is set, the PID gain need to be readjusted. In this study, a velocity-based gain scheduling algorithm was proposed when the dynamic characteristics of the control object were changed, and its performance was verified by applying it to actual equipment.