A comparative study between PID and PD-SMC and PD-ASMC control applied on a delta robot

• Autorzy: Thabet Mohammed , Yssaad Benyssaad , Litime Mostafa

Identyfikatory

DOI

10.15199/48.2021.10.01

Warianty tytułu

PL

Badanie porównawcze sterowania PID i PD-SMC oraz PD-ASMC w robocie delta

• Języki publikacji: EN

Abstrakty

EN

This paper presents the modelling and control of a delta robot. The software SOLIDWORKS is used in this work to get a performing model that is very close to real system. The proportional integrator derivative (PID) control is used in this proposal. The results are compared with PDSliding mode (PD-SMC) and PD a robust SMC (PD-ASMC). This is an important comparative study where the advantages of each controller are presented: the PD-SMC improve the performance of the trajectory tracking, where the control signal performances and the robustness was improved by the PD-ASMC. Results presented are done with matlab-simulink and with Solidworks.

PL

Atykuł przedstawia modelowanie i sterowanie robotem delta. Oprogramowanie SOLIDWORKS jest używane w tej pracy do uzyskania wydajnego modelu, który jest bardzo bliski rzeczywistemu systemowi. tak jak będziemy wyniki porównywane pomiędzy kontrolerami PID i (PD-SMC) i (PD-ASMC). Jest to ważne badanie porównawcze, w którym przedstawione są zalety każdego sterownika: PD-SMC poprawia wydajność śledzenia trajektorii, gdzie wydajność sygnału sterującego i odporność zostały ulepszone przez PD-ASMC. Przedstawione wyniki zostały wykonane za pomocą matlab-simulink oraz Solidworks.

Słowa kluczowe

EN

delta parallel robot; dynamic model; trajectory tracking; PD-ASMC; RMSE

PL

robot równoległy delta; model dynamiczny; śledzenie trajektorii; PD-ASM; RMSE

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2021
• Tom: R. 97, nr 10
• Strony: 1--7
• Opis fizyczny: Bibliogr. 17 poz., rys., tab.

Twórcy

autor

Thabet Mohammed

• Ahmed Zabana University of Relizane Faculty of Science and Technology Department of Electrical Engineering and Automation Laboratory: Industrial Engineering and Sustainable Development GIDD

• https://orcid.org/0000-0001-7026-2119

autor

Yssaad Benyssaad

• Ahmed Zabana University of Relizane Faculty of Science and Technology Department of Electrical Engineering and Automation Laboratory: Industrial Engineering and Sustainable Development GIDD

• https://orcid.org/0000-0002-4261-3070

autor

Litime Mostafa

• LAAS-National polytechnic school of Oran-Maurice Audin ENPO

• https://orcid.org/0000-0002-4886-9800

Bibliografia

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• [3] Lu, X.G.; Liu, M.; Liu, J.X. Design and Optimization of Interval Type-2 Fuzzy Logic Controller for Delta Parallel Robot Trajectory Control. Int. J. Fuzzy Syst. 2017, 19, 190– 206.
• [4] A. Codourey, ”Dynamic modelling and mass matrix evaluation of the delta parallel robot for axes decoupling control”, International Conference on Intelligent Robots and Systems, vol.3, pp.1211-1218, 1996.
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• [13] H Hadfield, L Wei, J Lasenby "The Forward and Inverse Kinematics of a Delta Robot.” University of Cambridge, Springer.2020
• [14] M. Ö. Efe, “Fractional fuzzy adaptive sliding mode control of a 2 DOF direct drive robot arm,” IEEE Trans. Syst., Man, Cybern., Part B: Cybern., vol. 28, no. 6, pp. 1561–1570, Dec. 2
• [15] . M. Diaz-Rodriguez, A. Valera, V. Mata, and M. Valles “Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters," Mechatronics, IEEE/ASME Transactions on, vol. 18, pp 1737-1744,2013
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).