Adaptive position digital control with deadbeat response for a platform on a mobile vehicle

H. Chamorro, C. Bustos, L. A. Lopez
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引用次数: 3

Abstract

The proposal of this paper is demonstrating the simplicity to develop a real control position action over a platform on mobile vehicle using two different discrete controllers. The mechanical structure is depicted and the range of work operation. The characterization is based on an accelerometer in the X axis. The mathematical analysis of these controllers, classic control discrete PID and the second is a non linear position control with deadbeat response method is showed and its simulation. Finally the algorithms implemented in a microcontroller of each controller are depicted in a flowchart and the results are evaluated with the error index.
移动车辆平台无差拍响应自适应位置数字控制
本文的建议证明了使用两种不同的离散控制器在移动车辆平台上开发真实控制位置动作的简单性。描述了机械结构和工作操作范围。表征是基于X轴上的加速度计。对这两种控制器进行了数学分析,分别给出了经典的离散PID控制和带无差拍响应的非线性位置控制方法,并进行了仿真。最后用流程图描述了每个控制器在单片机上实现的算法,并用误差指标对结果进行了评价。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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