Controller Design for a Two Degrees of Freedom System on a Fixed Platform

Muhammet Yalçin, M. U. Salamci, Tolga Dursun
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Abstract

Controller design for dynamical systems is mainly based on modeling and simulation of the dynamical system. The model of the system therefore becomes critical for the design problem especially if the dynamical system itself is hard to access for experimental studies. Since the functionality of controllers is important prior to the experimental works, relevant simulation software is used to see the response of controller. In this study, ADAMS model of a physical Two Degrees of Freedom system is formed. Then, the so-called Computed Torque Method with Proportional-Derivative Controller and Proportional-Integral-Derivative Controller are designed to control the system responses, namely angular positions of the system, by using MATLAB/SIMULINK software. Simulation scenario is considered as control of two degrees of freedom system from the zero position to desired angular positions. Simulation results are presented in order to show the effect of controllers. The study combines ADAMS model with MATLAB which enables one to see the system response on the ADAMS simulation model so that further verification could be performed prior to the experimental work.
固定平台上二自由度系统的控制器设计
动态系统的控制器设计主要是基于动态系统的建模和仿真。因此,系统的模型对于设计问题至关重要,特别是在动力系统本身难以进行实验研究的情况下。由于控制器的功能在实验工作之前很重要,因此使用相关的仿真软件来查看控制器的响应。本文建立了物理二自由度系统的ADAMS模型。然后,利用MATLAB/SIMULINK软件,设计了基于比例导数控制器和比例积分导数控制器的计算扭矩方法来控制系统响应,即系统的角度位置。仿真场景被认为是二自由度系统从零位置到期望角位置的控制。为了验证控制器的效果,给出了仿真结果。该研究将ADAMS模型与MATLAB相结合,可以看到ADAMS仿真模型上的系统响应,以便在实验工作之前进行进一步的验证。
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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