Evolutionary Tuning of PID Controllers for a Spatial Cable-Driven Parallel Robot

The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cables and pulleys. In this work, a simple and practical decoupled control structure proposal that requires practically no mathematical analysis was developed for the position control of a planar cable-driven parallel robot (CDPR). This structure was implemented using non-linear fuzzy PID and classic PID controllers, allowing performance comparisons to be established. For the development of this research, first the structure of the control system was proposed, based on an analysis of the cables involved in the movement of the end-effector (EE) of the robot when they act independently for each axis. Then a tuning of rules was carried out for fuzzy PID controllers, and Ziegler–Nichols tuning was applied to classic PID controllers. Finally, simulations were performed in MATLAB with the Simulink and Simscape tools. The results obtained allowed us to observe the effectiveness of the proposed structure, with noticeably better performance obtained from the fuzzy PID controllers.

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Evolutionary Tuning of Optimal PID Controllers for Second Order Systems Plus Time Delay

Studies in Computational Intelligence - Computational Intelligence ◽

10.1007/978-3-319-26393-9_1 ◽

2015 ◽

pp. 3-20 ◽

Cited By ~ 2

Author(s):

Jesús-Antonio Hernández-Riveros ◽

Jorge-Humberto Urrea-Quintero ◽

Cindy-Vanessa Carmona-Cadavid

Keyword(s):

Time Delay ◽

Second Order ◽

Pid Controllers ◽

Second Order Systems ◽

Evolutionary Tuning

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A Design of Evolutionary Tuning PID Controllers

IFAC Proceedings Volumes ◽

10.1016/s1474-6670(17)41625-9 ◽

2001 ◽

Vol 34 (14) ◽

pp. 219-224

Author(s):

Toru Yamamoto ◽

Michiyo Suzuki ◽

Yasue Mitsukura

Keyword(s):

Pid Controllers ◽

Evolutionary Tuning

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A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

Robotics ◽

10.3390/robotics10040111 ◽

2021 ◽

Vol 10 (4) ◽

pp. 111

Author(s):

Marco Carpio ◽

Roque Saltaren ◽

Julio Viola ◽

Cecilia García ◽

Juan Guerra ◽

...

Keyword(s):

Position Control ◽

Parallel Robot ◽

Parallel Robots ◽

Pid Controllers ◽

End Effector ◽

Movement Trajectories ◽

Contagious Diseases ◽

Ultraviolet C ◽

Design Proposal ◽

Health Care Centers

Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. Considering that one of the ways to reduce the risk of contagion is by avoiding contact and closeness between people when exchanging supplies such as food, medicine, clothing, etc., this work proposes the use of a planar cable-driven parallel robot for the transport of supplies in hospitals whose room distribution has planar architecture. The robot acts in accordance with a procedure proposed for each task to be carried out, which includes the process of disinfection (based on Ultraviolet-C light) of the supplies transported inside the robot’s end effector. The study presents a design proposal for the geometry of the planar cable-driven parallel robots and its end effector, as well as the software simulations that allow evaluating the robot’s movement trajectories and the responses of the position control system based on Fuzzy-PID controllers.

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Coupled evolutionary tuning of PID Controllers for the Benchmark on Vapor Compression Refrigeration

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2018.06.146 ◽

2018 ◽

Vol 51 (4) ◽

pp. 509-514 ◽

Cited By ~ 2

Author(s):

Gerardo José Amador Soto ◽

Juan Manuel Gómez López ◽

Jesús-Antonio Hernández-Riveros

Keyword(s):

Pid Controllers ◽

Vapor Compression ◽

Vapor Compression Refrigeration ◽

Evolutionary Tuning

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Development of a Jacobian Module for Advanced Pulp and Paper Simulation and Control

TAPPI Journal ◽

10.32964/tj8.1.4 ◽

2009 ◽

Vol 8 (1) ◽

pp. 4-11

Author(s):

MOHAMED CHBEL ◽

LUC LAPERRIÈRE

Keyword(s):

Control System ◽

Nonlinear Behavior ◽

Simulation Software ◽

Pulp And Paper ◽

Pid Controllers ◽

Tuning Parameters ◽

Pid Tuning ◽

Fixed Set ◽

And Control ◽

Operating Points

Pulp and paper processes frequently present nonlinear behavior, which means that process dynam-ics change with the operating points. These nonlinearities can challenge process control. PID controllers are the most popular controllers because they are simple and robust. However, a fixed set of PID tuning parameters is gen-erally not sufficient to optimize control of the process. Problems related to nonlinearities such as sluggish or oscilla-tory response can arise in different operating regions. Gain scheduling is a potential solution. In processes with mul-tiple control objectives, the control strategy must further evaluate loop interactions to decide on the pairing of manipulated and controlled variables that minimize the effect of such interactions and hence, optimize controller’s performance and stability. Using the CADSIM Plus™ commercial simulation software, we developed a Jacobian sim-ulation module that enables automatic bumps on the manipulated variables to calculate process gains at different operating points. These gains can be used in controller tuning. The module also enables the control system designer to evaluate loop interactions in a multivariable control system by calculating the Relative Gain Array (RGA) matrix, of which the Jacobian is an essential part.

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