Controle da posição da perna de pessoas hígidas utilizando um controlador PID

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Implementação de um controlador PID embarcado para o controle em malha fechada de um estimulador neuromuscular funcional

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Controle ativo de vibrações de rotores com mancais magnéticos: influência dos parâmetros do controlador PID

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Digital controller design considering hardware constraints: application in a paraplegic patient

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Controlador PID utilizando microcontrolador PIC

This monograph proposes the implementation of a low cost PID controller utilizing a PIC microcontroller, and its application in a positioning system previously controlled by a dedicated integrated circuit for a positioning system. Applying the closed-loop PID control, the system instability was reduced, and its response was smoother, eliminating vibrations and mechanical wear compared to its response with the dedicated integrated circuit, which has a very limited control action. The actuator of the system is a DC motor, whose speed is controlled by the Pulse Width Modulation (PWM) technique, using a Full-Bridge circuit, allowing the shift of direction of rotation. The utilized microcontroller was the PIC16F684, which has an enhanced PWM module, with its analog converters used as reference and position feedback. The positioning sensor is a multiturn potentiometer coupled to the motor axis by gears. The possibility of programming the PID coefficients in the microcontroller, as well as the adjustment of the sampling rate, allows the implemented system achieving high level of versatility

Diseño e implementación de un controlador de velocidad PID multivariable para un robot con configuración de triciclo

La robótica móvil constituye un área de desarrollo y explotación de interés creciente. Existen ejemplos de robótica móvil de relevancia destacada en el ámbito industrial y se estima un fuerte crecimiento en el terreno de la robótica de servicios. En la arquitectura software de todos los robots móviles suelen aparecer con frecuencia componentes que tienen asignadas competencias de gobierno, navegación, percepción, etcétera, todos ellos de importancia destacada. Sin embargo, existe un elemento, difícilmente prescindible en este tipo de robots, el cual se encarga del control de velocidad del dispositivo en sus desplazamientos. En el presente proyecto se propone desarrollar un controlador PID basado en el modelo y otro no basado en el modelo. Dichos controladores deberán operar en un robot con configuración de triciclo disponible en el Departamento de Sistemas Informáticos y deberán por tanto ser programados en lenguaje C para ejecutar en el procesador digital de señal destinado para esa actividad en el mencionado robot (dsPIC33FJ128MC802). ABSTRACT Mobile robotics constitutes an area of development and exploitation of increasing interest. There are examples of mobile robotics of outstanding importance in industry and strong growth is expected in the field of service robotics. In the software architecture of all mobile robots usually appear components which have assigned competences of government, navigation, perceptionetc., all of them of major importance. However, there is an essential element in this type of robots, which takes care of the speed control. The present project aims to develop a model-based and other non-model-based PID controller. These controllers must operate in a robot with tricycle settings, available from the Department of Computing Systems, and should therefore be programmed in C language to run on the digital signal processor dedicated to that activity in the robot (dsPIC33FJ128MC802).

Robust CDM and pole placement PID based thrust controllers for multirotor motor-rotor simplified model

Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative (PID) controller tuned with pole-placement law, is presented in the paper. The research has been conducted with respect to model/plant matching uncertainty and with the use of antiwindup compensators for a simple motor-rotor model approximated by first-order inertia plus delay. From the obtained simulation results one concludes that appropriate choice of AWC compensator improves tracking performance and increases robustness against parametric uncertainty.

Sintonia automática de controladores PID: uma abordagem neuro - genética

Dissertação de dout. em Electrónica e Computação, Faculdade de Ciências e Tecnologia, Univ. do Algarve, 2004

Force controlled hexapod walking

This thesis is a study on controlling methods for six-legged robots. The study is based on mathematical modeling and simulation. A new joint controller is proposed and tested in simulation that uses joint angles and leg reaction force as inputs to generate a torque, and a method to optimise this controller is formulated and validated. Simulation shows that hexapod can walk on flat ground based on PID controllers with just four target configurations and a set of leg coordination rules, which provided the basis for the design of the new controller.

Integrated relative translation and rotation control of spacecraft formations

Formation flying of small spacecraft provides a way to improve the resolution by aperture distribution. This requires autonomous control of relative position and relative attitude. The present work addresses the formation control using a PID controller to maintain both relative position and relative attitude. To avoid continuous pulsing due to noise, a dead-band has been provided in the position loop. PID control has been selected to maintain the formation in the presence of unmodeled disturbances. Simulations show that the proposed controller meets the required translational and rotational relative motions even in the presence of disturbances.

Building up a frequency stabilisation based on a wavemeter for a diode laser and characterisation for a digital mirror device for artificial potentials

It has built and characterised a laser and It has learned what each of the components does. It has been able to run the laser in single-mode and stabilised it around a desired setpoint thanks to a PID controller that It has programmed. It has established a communication between the PID controller programmed in LabVIEW and Arduino Due, the DAC that It has chosen after comparing it with another candidate. It has learned some basics of how the LightCrafter 4500 DMD works. The projected light is the composition of the lights of three LED’s, each of which has a certain on-time. The mirrors chose to be in on- or off-stages depending to the amount of intensity that we want for each colour.

Sistemas inteligentes adaptativos aplicados a um robô auto-equilibrante de duas rodas.

Com o avanço no desenvolvimento e utilização de veículos e robôs autoequilibrantes, faz-se necessário a investigação de controladores capazes de atender os diversos desafios relacionados à utilização desses sistemas. Neste trabalho foi estudado o controle de equilíbrio e posição de um robô auto-equilibrante de duas rodas. O interesse particular nesta aplicação vem da sua estrutura e da riqueza de sua dinâmica física. Por ser um problema complexo e não trivial há grande interesse em avaliar os controladores inteligentes. A primeira parte da dissertação aborda o desenvolvimento de um controle clássico do tipo PID, para em seguida ser comparado com a implementação de dois tipos de controladores inteligentes: On-line Neuro Fuzzy Control (ONFC) e Proportional-Integral-Derivative Neural-Network (PIDNN). Também é apresentada a implementação dos controladores em uma plataforma de hardware, utilizando o kit LEGO Mindstorm, e numa plataforma de simulação utilizando o MATLAB-Simulink. Em seguida, dois estudos de casos são desenvolvidos visando comparar o desempenho dos controladores. O primeiro caso avalia o controle de equilíbrio e posição do robô auto-equilibrante de duas rodas sobre um terreno plano tendo como interesse observar o desempenho intrínseco do sistema sob ausência de fatores externos. O segundo caso estuda o controle de equilíbrio e posição do robô em terrenos irregulares visando investigar a resposta do sistema sob influência de condições adversas em seu ambiente. Finalmente, o desempenho de cada um dos controladores desenvolvidos é discutido, verificando-se resultados competitivos no controle do robô auto-equilibrante de duas rodas.

基于神经网络的永磁同步电机矢量控制

采用单神经元自适应PID控制器对永磁同步电机进行了调速控制。详细介绍了PMSM(PermanentMagnetSynchronousMotor)的矢量控制原理。最后给出PMSM单神经元自适应PID控制的仿真结果和硬件实现方法。仿真结果表明,该系统具有良好的动态性能。

SARV光纤收放装置的控制系统设计与实现

根据小型自治遥控水下机器人SARV的运动特性,研制了光纤微缆收放的控制系统。设计使用了嵌入式QNX软件开发技术,系统稳定可靠。采用系统辨识的方法,获得被控对象的等效数学模型。采用单神经元自适应PID控制器对控制参数进行在线自调节,实现了SARV在水中运动时光纤收放的恒张力控制,满足光纤收放装置的设计要求。