build an augmented PID control model for a DC servo motor in Simulink

Question

Tony Cheng 2023-4-12

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https://ww2.mathworks.cn/matlabcentral/answers/1945909-build-an-augmented-pid-control-model-for-a-dc-servo-motor-in-simulink

评论： Sam Chak 2023-4-15

采纳的回答： Sam Chak

Hi there,

I am going to build an augmented PID control model for a DC servo motor in Simulink.

The state-space model of the DC motor has been built already.

Here I want to find a way to realise the augmented PID control, with the block of PID in simulink.

Are there any ways to realise it?

Many THX!

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Tony Cheng 2023-4-13

Hi Sam, I want to control the speed of the motor using this comtroller.

Sam Chak 2023-4-13

编辑：Sam Chak 2023-4-13

Hi @Tony Cheng

I think the ordinary PID block can also control the speed of the motor. For the augmented PID, do you mean to "group" the PID block and the Motor block together under a single Block Mask?

I have also searched online and found these two configs. Which one are you referring to?

Config #1

Efe, M. O. (2015). An augmented PID control scheme for robust control. 2015 International Workshop on Recent Advances in Sliding Modes (RASM). https://doi.org/10.1109/rasm.2015.7154582

Config #2

di Capaci, R. B., & Scali, C. (2018). An augmented PID control structure to compensate for valve stiction. IFAC-PapersOnLine, 51(4), 799–804. https://doi.org/10.1016/j.ifacol.2018.06.181

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Answer 1

Sam Chak 2023-4-15

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编辑：Sam Chak 2023-4-15

Hi @Tony Cheng

I'm unfamiliar with your system, but the Augmented PID Control Scheme should look like the following diagram in Simulink. If the model reference is a linear system, then the S-function can be replaced by a State-Space block.

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Tony Cheng 2023-4-15

Sam, thanks so much! I think this diagram is what I want. I will try to realise it in simulink.

Sam Chak 2023-4-15

在 MATLAB Online 中打开

You are welcome, @Tony Cheng. The S-Function block is preferred because it can send the acceleration output

directly in this section of the code.

function sys = mdlOutputs(t, x, u)
    sys(1) = ...    % xd
    sys(2) = ...    % xd'
    sys(3) = ...    % xd''
end

However, the block requires a bit of programming skill. If you are familiar with ode45(), then I think you should be okay with it.

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Answer 2

Tony Cheng 2023-4-13

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Hi Sam, thx for providing the 2 choices. the term augmented means the actuating torques of a motor for a predefined trajectory are feedforwarded into the pid controller. if u can find the paper

and fig.4 in this paper, u can easily get the meaning.

Cheers Chen