%0 Generic %1 hinze2022velocity %A Hinze, Christoph %A Zeh, Lukas %D 2022 %K %R 10.18419/darus-3109 %T PI velocity controllers comparison %X The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods: Damping optimum Groß: kp=212, ki=106 Damping optimum Zirn: kp=229, ki=57 Disturbance optimum: kp=76, ki = 38 Symmetric Optimum: kp=149, ki=310 Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46 H_inf: kp=166, ki=69 Loop shaping: kp=180, ki=67The following input signals are split in folders: ForceSweep/ ... sweep on linear direct drive for frequency domain analysis of disturbances VelocityRamp/ ... jerk limited ramp profile (const. velocity) for time domain analysis VelSweep/ ... velocity sweep on motor for frequency domain analysis 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)Please refer to Readme.md contained in the dataset for more detailed information.Abbreviations used in data/metadata:LDA/LDD ... linear direct driveKGT/BSC ... ball screw drive

@misc{hinze2022velocity, abstract = {The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods: Damping optimum Groß: kp=212, ki=106 Damping optimum Zirn: kp=229, ki=57 Disturbance optimum: kp=76, ki = 38 Symmetric Optimum: kp=149, ki=310 Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46 H_inf: kp=166, ki=69 Loop shaping: kp=180, ki=67The following input signals are split in folders: ForceSweep/ ... sweep on linear direct drive for frequency domain analysis of disturbances VelocityRamp/ ... jerk limited ramp profile (const. velocity) for time domain analysis VelSweep/ ... velocity sweep on motor for frequency domain analysis 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)Please refer to Readme.md contained in the dataset for more detailed information.Abbreviations used in data/metadata:LDA/LDD ... linear direct driveKGT/BSC ... ball screw drive }, added-at = {2023-08-31T15:08:51.000+0200}, affiliation = {Hinze, Christoph/Universität Stuttgart, Zeh, Lukas/Universität Stuttgart}, author = {Hinze, Christoph and Zeh, Lukas}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/298f574037650529c8eeb19b23bcf8a56/puma-wartung}, doi = {10.18419/darus-3109}, howpublished = {Dataset}, interhash = {9746ccb2110f57e08d7eaaa6ffc9775d}, intrahash = {98f574037650529c8eeb19b23bcf8a56}, keywords = {}, orcid-numbers = {Hinze, Christoph/0000-0001-6615-5003, Zeh, Lukas/0000-0003-2730-1383}, timestamp = {2023-08-31T13:08:51.000+0200}, title = {PI velocity controllers comparison}, year = 2022 }