PID Autotuning Algorithm with an Asymmetric Self-oscillation = 비대칭 자기 진동에 대한 PID 자동동조 알고리듬

다국어 초록 (Multilingual Abstract)

We use the saturation nonlinear feedback element to generate self-oscillation in order to find an ultimate gain and period of linear plant. The use of saturation nonlinear feedback element can improve accuracy of an ultimate gain and period of unknown linear plant. An ultimate gain and period of linear plant can be used to tune a PID controller parameters. It is possible that an asymmetric oscillation can be occurred under the special circumstances such as with static load disturbance. We analyze an asymmetric self-oscillation. As the results of an analysis, we propose a method to find an ultimate gain and period of linear Plant under the asymmetric self-oscillation.