二自由度机械臂PID控制与PDF控制的比较

Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019) Pub Date : 2019-11-01 DOI:10.2991/pntim-19.2019.30

Ming-hui Qiang, Bai Yu, Jia Feng, Edwards Gerard

{"title":"二自由度机械臂PID控制与PDF控制的比较","authors":"Ming-hui Qiang, Bai Yu, Jia Feng, Edwards Gerard","doi":"10.2991/pntim-19.2019.30","DOIUrl":null,"url":null,"abstract":"This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45","PeriodicalId":344913,"journal":{"name":"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator\",\"authors\":\"Ming-hui Qiang, Bai Yu, Jia Feng, Edwards Gerard\",\"doi\":\"10.2991/pntim-19.2019.30\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45\",\"PeriodicalId\":344913,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)\",\"volume\":\"80 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.2991/pntim-19.2019.30\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2991/pntim-19.2019.30","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

比较了比例积分微分(PID)和伪微分反馈(PDF)控制算法在二自由度平面机器人操纵臂中的区别。在MATLAB中对PID和PDF控制算法进行了比较，MATLAB是一种简单实用的算法测试工具。利用MATLAB中的ODE45函数求解微分方程。微分方程的解包含作用在执行器上的力。此外，由于增益是未知的，引入了一种数学方法来实现增益。仿真结果表明，通过对比MATLAB中的响应，PDF控制算法优于PID控制算法。PID算法中出现的过冲在PDF算法中消失。Keywords-PID;PDF格式;控制;算法;MATLAB;数值

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator

This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)

自引率

0.00%

发文量