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Francisco Heleno V. Silva
UFC - Universidade Federal do Ceará - Fortaleza, CE
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Josias G. Batista
UFC - Universidade Federal do Ceará - Fortaleza, CE; Laboratório de Robótica Móvel - Departamento de Indústria, Instituto Federal de Educação, Ciência e Tecnologia do Ceará - IFCE, Campus Fortaleza, Fortaleza, CE
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Darielson A. Souza
UFC - Universidade Federal do Ceará - Fortaleza, CE
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Alanio F. Lima
UFC - Universidade Federal do Ceará - Fortaleza, CE
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Laurinda L. N. dos Reis
UFC - Universidade Federal do Ceará - Fortaleza, CE
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Antônio B. Souza Júnior
UFC - Universidade Federal do Ceará - Fortaleza, CE
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Emerson V. A. Dias
Laboratório de Robótica Móvel - Departamento de Indústria, Instituto Federal de Educação, Ciência e Tecnologia do Ceará - IFCE, Campus Fortaleza, Fortaleza, CE
Keywords:
PID controller, PID 2-DOF, least squares, tuning methods, robotic manipulator, systems identification
Abstract
Proportional-Integral-Derivative (PID) is one of the most used forms of control in the industry and there are several variations of its architecture. PID 2-DOF is one of them and aims to improve the rejection of disturbances of control actions more quickly. This paper presents the identification through the non-recursive least squares (LS) mathematical method of a rotational joint of a cylindrical manipulator and the application of PID and PID 2-DOF controllers. The identification of the 1st order model of the manipulator joint is performed to apply the tuning methods Ziegler/Nichols (ZN), Chien-Hrones-Reswick (CHR), Internal Model Control (IMC) and Skogestad IMC Method (SIMC) in the proposed controllers. To compare the simulation results, the following performance criteria are used: rise time (tr), settling time (ts), and overshoot. In the end, it is concluded that the tuning methods CHR and IMC obtained better results, and the PID 2-DOF controller obtained better results after fine tuning.
