COMPUTER AIDED SIMULATION AND PID CONTROL OF A SMALL SCALE SINGLE DOF MAGNETIC PENDULUM MECHANISM

Öz

Health and biomedical device technologies are among the most important issues of today. With the developments in technology in recent years, studies on the development of micro and macro-scale robotic systems such as drug dosing, cell and DNA sequencing, imaging and regional intervention systems have become more important. In this study, a single-degree-of-freedom robotic arm mechanism (pendulum) that can be directly controlled by a magnetic field is proposed to be used in small-scale systems for object handling, position manipulation, etc. The electrical and mechanical equations governing the system are obtained and a PID controller is designed. It is found that the controller parameters cannot be determined by Ziegler-Nichols methods due to the chaotic behavior of the magnetic forces. PID controller parameters were obtained by optimization using iterative methods. The best results were obtained after 7 iterations with -0.1788 overshoot, 0.1634 settling time and 0.0298 mean square error. The PID parameters obtained are kp=5.353, kd=0.2157 and ki=21.5987. The controller behavior for different reference inputs (step, triangular and sinusoidal) was investigated. Errors in the system, controller voltage output and currents in the circuit are visualized and presented. It is observed that position control can be performed in the proposed pendulum model with 20A current.

Anahtar Kelimeler

• Micro robot
• PID control
• Magnetic control
• Magnetic field
• Optimization

KÜÇÜK ÖLÇEKLİ, TEK EKLEMLİ MANYETİK SARKAÇ MEKANİZMASININ BİLGİSAYAR DESTEKLİ BENZETİMİ VE PID KONTROLÜ

Öz

Sağlık ve biyomedikal cihaz teknolojileri günümüzün en önemli konuları arasında yer almaktadır. Son yıllarda teknolojide yaşanan gelişmeler ile birlikte, mikro ve makro ölçekli robotik sistemlerinin ilaç dozajlama, hücre ve DNA dizilimi oluşturma, görüntüleme ve bölgesel müdahale sistemi olarak geliştirilmesi üzerine çalışmalar ön plana çıkmaktadır. Çalışmada küçük ölçekli sistemlerde nesne taşıma, konum manipülasyonu vb. işlemlerde kullanılmak üzere doğrudan manyetik alan ile kontrol edilebilen tek serbestlik dereceli bir robot kol mekanizması(sarkaç) önerilmiştir. Sistemi yöneten elektrik ve mekanik denklem sistemi çıkartılmış, PID kontrolcü tasarımı yapılmıştır. Manyetik kuvvetlerin doğrusal olmayan davranışı nedeni ile Ziegler-Nichols metodları ile kontrolcü parametrelerinin belirlenemediği görülmüştür. PID kontrolcü parametreleri iteratif metodlar kullanılarak optimize edilerek elde edilmiştir. İterasyon algoritması 7 iterasyon sonucunda -0.1788 Aşma, 0.1634 Yerleşme ve 0.0298 mutlak hata ortalaması ile en iyi sonuşlara ulaşmıştır. Ulaşılan PID parametreleri ise kp=5.353, kd=0.2157 ve ki=21.5987’dir. Farklı dalga formlarında (basamak, üşgen ve sinüzoidal) kontrolcü davranışı incelenmiştir. Sistemde oluşan hatalar, kontrolcü gerilim çıkışı ve devrede oluşan akımlar görselleştirilerek detaylandırılmıştır. Çalışmada, 20A akım ile önerilen sarkaç modelinde pozisyon kontrolünün yapılabileceği gösterilmiştir.

Anahtar Kelimeler

• Mikro robot
• PID kontrol
• Manyetik kontrol
• Manyetik alan
• Optimizasyon

Kaynakça

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