Real-time Implementation of PID Control Algorithm using Power Pmac Controller for Antenna Position Control System.

2019 ◽  
Author(s):  
Nupoor Patil ◽  
Durgesh Behere
Keyword(s):  
Control System ◽  
Real Time ◽  
Pid Control ◽  
Control Algorithm ◽  
Position Control ◽  
Position Control System ◽  
Antenna Position

Research on Position Recognition and Control Method of Single-leg Joint of Hydraulic Quadruped Robot

2021 ◽  
Vol 14 ◽  
Author(s):  
Bingwei Gao ◽  
Hao Guan ◽  
Wenming Tang ◽  
Wenlong Han ◽  
Shilong Xue
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Pid Control ◽  
Control Algorithm ◽  
Position Control ◽  
Quadruped Robot ◽  
Identification Method ◽  
Indirect Identification ◽  
The Mathematical Model ◽  
Position Control System

: In order to obtain the precise mathematical model of the position control system of the hydraulic quadruped robot, and to meet the requirements of the system parameters in different stages of motion, this paper studies the position control system of the single-leg joint of the hydraulic quadruped robot: First of all, this paper uses the closed-loop indirect identification method to identify the position of the leg joints of the hydraulic quadruped robot to obtain the mathematical model of the system; And then, the speed PID control algorithm and speed planning algorithm are designed, so that the system can quickly respond to the changes of system input according to the requirements of different speeds; Finally, the joint position control system of the hydraulic quadruped robot is simulated and verified by experiments. Background: The mathematical model of the positioning system of the hydraulic quadruped robot is clear, but the parameters in the model have the characteristics of uncertainty and time-variation. In the joint position control system of a hydraulic quadruped robot, different motion stages have different requirements for system parameters. Objective: The purpose of this study is to obtain the precise mathematical model of the position control system of the hydraulic quadruped robot and to meet the requirements of the system parameters in different stages of motion. Method: This research takes the hydraulic quadruped robot single-leg system as the research object and uses the closed-loop indirect identification method to identify the position of the leg joints of the hydraulic quadruped robot to obtain the mathematical model of the system. Then, the speed PID control method is designed and compared with the ordinary PID control by taking the positioning control accuracy of the robot before touching the ground as a standard to carry out the controlled trial. Results: In this research, the identification method and control algorithm are designed, and finally, the simulation and experimental research are carried out. The results of the simulation and experiment verify the correctness of the identification method and the effectiveness of the control algorithm. Conclusion: First of all, this paper uses the closed-loop indirect identification method to identify the position of the leg joints of the hydraulic quadruped robot to obtain the mathematical model of the system. Then, the speed PID control algorithm and speed planning algorithm are designed so that the system can quickly respond to the changes of system input according to the requirements of different speeds.

Application of Shape Memory Alloy Actuators to Control the Displacement of an Adaptive Beam

2011 ◽  
Vol 415-417 ◽  
pp. 2196-2201
Author(s):  
Rong Liu ◽  
Ping He ◽  
Chang Shui Feng
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Real Time ◽  
Control Strategy ◽  
Pid Control ◽  
Position Control ◽  
Real Time Control ◽  
Precise Position ◽  
Time Control ◽  
Position Control System

Shape memory alloy (SMA) wire actuators have broad application prospects in many fields. But due to the nonlinearity of inherent hysteresis of SMA, the precise position control system is difficult to be obtained to these kinds of actuators. Therefore, it is significant to research the control technology of SMA wire actuators to extend the application of SMA wire actuators. In the current paper, a shape memory alloy wire actuator is designed to control the displacement of an adaptive beam. The dynamic model of SMA wire actuator is derived based on Brinson’s model and two types of inputs are used to produce different displacements. Then, PID control strategy for the SMA actuators is established and implemented to active control the position. Also, real-time control (RTC) is applied to the SMA wire actuators, which can concurrently generate real-time codes and accelerate the process of simulation. Through the comparison of different amplitudes and frequencies of current inputs, the different control abilities and characteristics to acquire the maximal displacement can be approximately achieved. Significantly, the position can basically remain stable. The results demonstrate the SMA wire actuators can be used to stably control the displacement of the adaptive beam.

An Auto-Tuning PID Controller for Integrating Plus Dead-Time Processes

2011 ◽  
Vol 403-408 ◽  
pp. 4934-4943 ◽  
Author(s):  
C. Dey ◽  
R.K. Mudi ◽  
D. Simhachalam
Keyword(s):  
Control System ◽  
Real Time ◽  
Simulation Study ◽  
Pid Controller ◽  
Position Control ◽  
Dead Time ◽  
Nonlinear Gain ◽  
Stability Robustness ◽  
Auto Tuning ◽  
Position Control System

We propose an auto-tuning PID (APID) controller with nonlinear gain. Its proportional, integral, and derivative gains are parameterized online by a nonlinear updating factor. Both performance and stability robustness of APID are studied with reasonable perturbations in model as well as controller parameters. Effectiveness of the proposed APID is tested through simulation study as well as its real-time implementation on a practical position control system.

Realization of Angular Position Control System on Multi-Degree-of-Freedom Welding Robot

2012 ◽  
Vol 192 ◽  
pp. 323-327
Author(s):  
Jian Long Zhai ◽  
Jie Li ◽  
Rong Hui Gao
Keyword(s):  
Control System ◽  
Real Time ◽  
Joint Angle ◽  
Position Control ◽  
Angular Position ◽  
Welding Robot ◽  
Work Process ◽  
Machine Interface ◽  
Visual Interface ◽  
Position Control System

Aim at the need of excessive freedom jointing robot real time measuring joint angle positions during work process, The engineer is an measure system of excessive freedom jointing robot, which are base on absoluteness type photo-electricity coder and TMS320F2812. The system have more group sixteen bits IO and SCI communicate interface, which can make jointing robot real time measuring, and implement the visual interface of the upper machine .The system has well real time and friendly human-machine interface, which is the same with minutely machining appliance extensive.

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