PI velocity controllers comparison

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=67 The 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 drive KGT/BSC ... ball screw drive

以下对PI-速度控制器进行了比较（不同的参数化方法），所有方法均关闭了位置控制：阻尼最优 Groß：kp=212, ki=106；阻尼最优 Zirn：kp=229, ki=57；扰动最优：kp=76, ki=38；对称最优：kp=149, ki=310；扩展对称最优（Schröder2016，§3.2.2）：kp=182.9, ki=46；H_inf：kp=166, ki=69；环路整形：kp=180, ki=67。以下输入信号被分为文件夹：ForceSweep/ ... 对线性直接驱动进行频率域分析中的力扫描；VelocityRamp/ ... 具有恒定速度的冲击限制斜坡轮廓（时间域分析）；VelSweep/ ... 对电机的速度扫描进行频率域分析；sweeps_H_inf/ ... 在不同位置（150毫米、350毫米、600毫米、650毫米）、方向（正/负）和速度（8毫米/秒、20毫米/秒）的多电机速度扫描。请参考数据集中包含的 Readme.md 文件以获取更详细的信息。数据/元数据中使用的缩写：LDA/LDD ... 线性直接驱动；KGT/BSC ... 滚珠丝杠驱动。