Design of FRIT Method using Optimal Pre-filter Based on Frequency Domain and its Application to the PID Gains Tuning

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  • Gohda Yuki
    Graduate School of System Design Engineering,Tokyo Metropolitan University
  • Masuda Shiro
    Graduate School of System Design Engineering,Tokyo Metropolitan University
  • Matsui Yoshihiro
    Tokyo National College of Technology

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Other Title
  • 周波数領域上における最適プレフィルタを用いたFRIT法とそのPIDゲイン調整への応用
  • 周波数領域による最適なプレフィルタを用いた外乱抑制FRIT法の設計
  • シュウハスウ リョウイキ ニ ヨル サイテキ ナ プレフィルタ オ モチイタ ガイラン ヨクセイ FRITホウ ノ セッケイ
  • シュウハスウ リョウイキ ジョウ ニ オケル サイテキ プレフィルタ オ モチイタ FRITホウ ト ソノ PID ゲイン チョウセイ エ ノ オウヨウ

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Abstract

The paper gives a controller tuning method using Fictitious Reference Iterative Tuning (FRIT) approaches based on the frequency domain. The proposed method obtains controller parameters that optimize a performance index, which evaluates the difference between the closed loop output and the reference model output in the frequency domain. The performance index is calculated using the Fourier transformation of one-shot experimental input-output data. The paper shows that band-path filters play an important role in the Fourier transformation of the one-shot input-output data, and the optimal pre-filter, which well approximates the performance index to the original performance index, can be easily calculated in the frequency domain. The optimal pre-filter contributes to deriving a better controller parameter improving the closed loop response. The effectiveness of the proposed method is illustrated through numerical examples for PID gains tuning.

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