PID controllers design applied to positioning of ball on the Stewart platform

• Autorzy: Koszewnik A. , Troc K. , Słowik M.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor and servo motors as actuators. The complete control system stabilizing the ball on the platform is realized with the Arduino microcontroller and the Matlab/Simulink software. Two processes required to acquire measurement signals from the touch panel in two perpendicular directions X and Y, are discussed. The first process includes the calibration of the touch panel, and the second process - the filtering of measurement signals with the low pass Butterworth filter. The obtained signals are used to design the algorithm of the ball stabilization by decoupling the global system into two local subsystems. The algorithm is implemented in a soft real time system. The parameters of both PID controllers (PIDx and PIDy) are tuned by the trial-error method and implemented in the microcontroller. Finally, the complete control system is tested at the laboratory stand.

Słowa kluczowe

EN

PID controller; low pass butterworth filter; Stewart-Gough platform; Arduino microcontroller; USB port; touch panel sensor

PL

sterownik PID; sterownik Arduino; port USB; czujnik panelu dotykowego

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2014
• Tom: Vol. 8, no. 4
• Strony: 214--218
• Opis fizyczny: Bibliogr. 11 poz., rys., tab., wykr.

Twórcy

autor

Koszewnik A.

• Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Troc K.

• Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

autor

Słowik M.

• Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

Bibliografia

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• 9. http://stackoverflow.com/questions/17308956/differences-betweenhard-real-time-soft-real-time-and-firm-real-time (10.09.2014)
• 10. http://www.buddyrc.com/new-power-xl-9hm.html (12.03.2014)
• 11. http://www.ece.uah.edu/corses/ee426/Butterworth.pdf (30.09.2014)