Design and Implementation of a Smith Estimator-based PID Controller for Single-linkRobotic Manipulator with time delay

سال انتشار: 1402
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 130

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شناسه ملی سند علمی:

ISME31_221

تاریخ نمایه سازی: 10 خرداد 1402

چکیده مقاله:

The paper deals with the design and experimentalevaluation of a Smith estimator-based proportionalderivative-integral (PID) controller for a single-linkrobotic manipulator. The main idea is the identification ofsystem transfer function with time-delay, that is used topredict the actual delay-free output of the system withsmith estimator. Therefore, the PID controller parameterscan be determined according to the delay-free part of themodel. The proposed control method performance isevaluated through different experiments. The obtainedresults indicate a good tracking performance for therobotic manipulator under the designed controller in thepresence of DC motor delay as the system actuator

کلیدواژه ها:

Time-delay system ، PID controller ، Smithpredictor ، single link robotic manipulator

نویسندگان

Zahra Ahangari Sisi

Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran;

Mehdi Mirzaei

Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran;

Sadra Rafatnia

Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran;

Mehrnaz Banaeian

Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, Iran;