PID denetleyicisi ve çift döngülü geri bildirim şemasına sahip Öncü/Gecikme dengeleyici kullanılarak bir plaka sistemi üzerinde bir topun izleme kontrolü
Abstract
Günümüzde teknoloji sürekli evrim halindedir, hareket ve denge kontrolü tamamen genişlemektedir (insansı robotlar, dronlar ve paralel robotlar). Robotik yazılım geliştiricilerinin sıklıkla karşılaştığı zorluk, istikrarı ve dengeyi korumaktır, dengesini kaybeden bir robot, çevresi için anında bir tehdit oluşturur, bu nedenle, plaka üzerinde top sistemi, bir denetleyicinin performansını test etmek için en iyi yöntemdir. Belirli bir sistemin dengesi.
Bu platform, bilya ve kiriş sisteminin yükseltilmiş bir versiyonudur, çok değişkenli ve doğrusal olmayan bir sistemdir, bu sistem onu kontrol açısından en karmaşık sistemlerden biri haline getiren, gereksinimleri karşılamak için güvenilir, verimli ve hızlı kontrolörler gerektiren bir underactuated özelliğine sahiptir. bu görevin nihai hedefi. Bu çalışmada, minimum izleme hatası ile hızlı ve kesin bir yanıt elde etmek için top stabilizasyonu için iki tip kontrolör, klasik PID kontrolör ve çift döngülü geri besleme şemasında Önde/Gecikme dengeleyici sunulmuştur. Son olarak, bu iki kontrol tekniği ile elde edilen sonuçların bir karşılaştırması yapıldı ve bu tür bir sistemle uğraşırken Öncü / Gecikme kompansatörünün üstünlüğünü ortaya koydu.
Keywords
Plaka üzerinde top Doğrusal olmayan sistem PID kontrolörü Öncü/Gecikme dengeleyici Top stabilizasyonu Yetersiz harekete geçirilmiş sistem.
References
- Sinaga, E. F., Manurung, E. B., Chee, V. A., & Djajadi, A. (2011, March). Building and controlling a ball and plate system. In International Conference on Advances in Communication, Network, and Computing (pp. 600-608). Springer, Berlin, Heidelberg.
- J.Okafor, E., Udekwe, D., Ibrahim, Y., Bashir Mu’azu, M., & Okafor, E. G. (2020). Heuristic and deep reinforcement learning-based PID control of trajectory tracking in a ball-and-plate system. Journal of Information and Telecommunication, 1-18.
- Negash, A., & Singh, N. P. (2015). Position control and tracking of ball and plate system using fuzzy sliding mode controller. In Afro-European conference for industrial advancement (pp. 123-132). Springer, Cham.
- Kassem, A., Haddad, H., & Albitar, C. (2015). Commparison between different methods of control of ball and plate system with 6DOF Stewart platform. IFAC-PapersOnLine, 48(11), 47-52.
- Liu, H., & Liang, Y. (2010, March). Trajectory tracking sliding mode control of ball and plate system. In 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) (Vol. 3, pp. 142-145). IEEE.
- Betancourt, F. I. R., Alarcon, S. M. B., & Velasquez, L. F. A. (2019, October). Fuzzy and PID controllers applied to ball and plate system. In 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) (pp. 1-6). IEEE.
Tracking control of a ball on plate system using PID controller and Lead/Lag compensator with a double loop feedback scheme
Abstract
Nowadays, technology is in continuous evolution, movement and balance control are in full expansion (humanoid robots, drones and parallel robots). The difficulty that robotics software developers are often facing is maintaining stability and balance, a robot that loses its balance is an instant threat to its environment, therefore, the ball on plate system is the best method to test the performance of a controller to ensure the balance of a given system.
This platform is an upgraded version of the ball and beam system, it is a multivariable and a nonlinear system which has an underactuated feature that makes it one of the most complicated systems in terms of control, requiring reliable, efficient and fast controllers to meet the end goal of this task. In this work, two types of controllers for the ball stabilization, classical PID controller and Lead / Lag compensator in a double loop feedback scheme, were presented in order to achieve a fast and precise response with a minimal tracking error. Finally, a comparison of the results obtained by these two control techniques was made which revealed the superiority of the Lead / Lag compensator in dealing with this kind of system.
Keywords
Ball on plate Nonlinear system PID controller Lead/Lag compensator Ball stabilization Underactuated system
References
- Sinaga, E. F., Manurung, E. B., Chee, V. A., & Djajadi, A. (2011, March). Building and controlling a ball and plate system. In International Conference on Advances in Communication, Network, and Computing (pp. 600-608). Springer, Berlin, Heidelberg.
- J.Okafor, E., Udekwe, D., Ibrahim, Y., Bashir Mu’azu, M., & Okafor, E. G. (2020). Heuristic and deep reinforcement learning-based PID control of trajectory tracking in a ball-and-plate system. Journal of Information and Telecommunication, 1-18.
- Negash, A., & Singh, N. P. (2015). Position control and tracking of ball and plate system using fuzzy sliding mode controller. In Afro-European conference for industrial advancement (pp. 123-132). Springer, Cham.
- Kassem, A., Haddad, H., & Albitar, C. (2015). Commparison between different methods of control of ball and plate system with 6DOF Stewart platform. IFAC-PapersOnLine, 48(11), 47-52.
- Liu, H., & Liang, Y. (2010, March). Trajectory tracking sliding mode control of ball and plate system. In 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010) (Vol. 3, pp. 142-145). IEEE.
- Betancourt, F. I. R., Alarcon, S. M. B., & Velasquez, L. F. A. (2019, October). Fuzzy and PID controllers applied to ball and plate system. In 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) (pp. 1-6). IEEE.
Details
| Primary Language | English |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Publication Date | November 30, 2021 |
| Published in Issue | Year 2021 Issue: 28 |
