Modeling and Controlling the Actuator Joint Angle Position on the Robot Arm Base Using Discrete PID Algorithm (original) (raw)
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2020 2nd International Conference on Industrial Electrical and Electronics (ICIEE), 2020
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Comparative Study Of PD, PI And PID Controllers For Control Of A Single Joint System In Robots
The International Journal of Engineering and Science , 2018
I. INTRODUCTION Industrial design of Robots requires that their Joints are normally actuated by simple DC motors which results in the flexible rotation of the Joints. The principle of operation of the system requires that Change in magnetic field of a moving magnet induces an EMF to a coil which then causes rotation of the Armature and therefore producing a resultant torque which causes the arm attached to the motor to rotate[1],[5]. This kind of system is unstable at open loop, making it necessary for the application of a controller to guarantee set-point tracking and stabilization[8]. The three parameters to be compared in this work are the Proportional action, Derivative action and Integral action. The proportional action or gain will drive a system to set-point, the derivative action will help to reduce oscillation at steady state or damp overshoots at transient, and the integral action will deal with steady state errors[9]. [4] had done a similar work by comparing the action of P,PI and PID controllers for speed control of VSI-fed induction motor, and the results showed that each controller contributed its own unique performance to the closed loop system.[6] used PID control for speed control of a DC motor and got some satisfactory result on the steady state performance while [2],[3],[7] have applied PI control for DC motors and confirmed that Integral action really leads to steady state off set cancellation. The application of PD controllers has also been verified by [9] where it was discovered that the system is stabilized from steady state, however steady state errors can still be maintained all through. In reality such a system must always encounter fault and disturbances hence[3] proposed and simulated rotation of this motors encountering faults, [2] has also attempted to observe this faults and parameter states by designing a Kalman Filter for state observation and results obtained has been encouraging and consistent with stability. Other work done on DC motors have focused mostly on speed control hence [5][7][8] have all presented that PID controllers are very reliable and stabilizing when it comes to control of the DC motors as actuators. In this work we are concerned in the comparative performance of PD, PI and PID controllers as the act to control and stabilize a single joint system shown in Fig.1.
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International Journal of Electrical and Computer Engineering (IJECE), 2021
This paper proposed a detailed study for the response of angular position of the rotor of a DC motor. It is a comparative analysis to the behavior of the DC motor when the motor is alone and when it is with controllers. Furthermore, a comparison between the responses of controllers themselves. A conventional PID controller which was tuned by using Ziegler and Nichols method was proposed in this paper. Also, Modification PID controllers were proposed in this paper. The modification PID controllers are PI-D controller and I-PD controller. Mathematical calculations were done to get the transfer functions for the DC motor and the controllers. Time domain specifications and figures were obtained for each case by using Matlab program. The obtained results were summarized in tables. This paper determined which the controller is the best one depending on the obtained figures and the time domain specifications.
PID Controller based DC Motor Speed Control
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