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Part 1: Document Description
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Citation |
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Title: |
PI velocity controllers comparison |
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Identification Number: |
doi:10.18419/darus-3109 |
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Distributor: |
DaRUS |
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Date of Distribution: |
2022-11-03 |
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Version: |
1 |
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Bibliographic Citation: |
Hinze, Christoph; Zeh, Lukas, 2022, "PI velocity controllers comparison", https://doi.org/10.18419/DARUS-3109, DaRUS, V1 |
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Citation |
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Title: |
PI velocity controllers comparison |
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Identification Number: |
doi:10.18419/darus-3109 |
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Authoring Entity: |
Hinze, Christoph (Universität Stuttgart) |
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Zeh, Lukas (Universität Stuttgart) |
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Software used in Production: |
dSPACE Control Desk |
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Grant Number: |
438835664 |
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Distributor: |
DaRUS |
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Access Authority: |
Hinze, Christoph |
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Depositor: |
Hinze, Christoph |
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Date of Deposit: |
2022-08-15 |
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Holdings Information: |
https://doi.org/10.18419/DARUS-3109 |
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Study Scope |
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Keywords: |
Engineering, Motor Drives |
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Topic Classification: |
Velocity Control, Ball Screw Drive, Cascade Control |
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Abstract: |
The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods: <ul> <li> Damping optimum Groß: kp=212, ki=106</li> <li> Damping optimum Zirn: kp=229, ki=57</li> <li> Disturbance optimum: kp=76, ki = 38</li> <li> Symmetric Optimum: kp=149, ki=310</li> <li> Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46</li> <li> H_inf: kp=166, ki=69</li> <li> Loop shaping: kp=180, ki=67</li> </ul> The following input signals are split in folders: <ul> <li> ForceSweep/ ... sweep on linear direct drive for frequency domain analysis of disturbances</li> <li> VelocityRamp/ ... jerk limited ramp profile (const. velocity) for time domain analysis</li> <li> VelSweep/ ... velocity sweep on motor for frequency domain analysis</li> <li> sweeps_H_inf/ ... multiple motor velocity sweeps at different positions (150 mm, 350 mm, 600 mm 650 mm), directions (positive/negative) and velocities (8 mm/s, 20 mm/s)</li> </ul> <p>Please refer to <a href="https://darus.uni-stuttgart.de/file.xhtml?fileId=168723">Readme.md</a> contained in the dataset for more detailed information.</p> <h5>Abbreviations used in data/metadata:</h5> <ul> <li>LDA/LDD ... linear direct drive</li> <li>KGT/BSC ... ball screw drive</li> </ul> |
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Methodology and Processing |
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Sources Statement |
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Data Access |
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Other Study Description Materials |
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Label: |
Readme.md |
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Notes: |
text/markdown |
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Label: |
DampingOpt_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
DampingOpt_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
DisturbanceOpt_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
DisturbanceOpt_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
DOZirn_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
DOZirn_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
ESO_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
ESO_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
HInf_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
HInf_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
LoopShaping_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
LoopShaping_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
parameters.txt |
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Notes: |
text/plain |
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Label: |
parameters.txt |
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Notes: |
text/plain |
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Label: |
vSweep_20_mm_s_x_150_neg.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_20_mm_s_x_150_pos.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_20_mm_s_x_600_neg.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_20_mm_s_x_600_pos.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_8_mm_s_x_150_neg.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_8_mm_s_x_150_pos.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_8_mm_s_x_350_neg.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_8_mm_s_x_350_pos.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_8_mm_s_x_650_neg.mat |
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Notes: |
application/matlab-mat |
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Label: |
vSweep_8_mm_s_x_650_pos.mat |
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Notes: |
application/matlab-mat |
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Label: |
DampingOpt.mat |
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Notes: |
application/matlab-mat |
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Label: |
DOZirn.mat |
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Notes: |
application/matlab-mat |
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Label: |
ESO.mat |
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Notes: |
application/matlab-mat |
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Label: |
HInf.mat |
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Notes: |
application/matlab-mat |
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Label: |
LoopShaping.mat |
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Notes: |
application/matlab-mat |
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Label: |
parameters.txt |
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Notes: |
text/plain |
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Label: |
SymmetricOpt.mat |
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Notes: |
application/matlab-mat |
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Label: |
DampingOpt_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
DampingOpt_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
DisturbanceOpt_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
DisturbanceOpt_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
DOZirn_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
DOZirn_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
ESO_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
ESO_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
HInf_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
HInf_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
LoopShaping_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
LoopShaping_x_550.mat |
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Notes: |
application/matlab-mat |
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Label: |
parameters.txt |
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Notes: |
text/plain |
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Label: |
SymmetricOpt_x_10.mat |
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Notes: |
application/matlab-mat |
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Label: |
SymmetricOpt_x_550.mat |
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Notes: |
application/matlab-mat |