PID control

This paper proposed a PID method to control a driven pendulum. Driven pendulum is a suspended pendulum, which has a motorized propeller at the end of the stick. So it can be controlled with controlling the voltage given to DC motor. The characteristics of the transient response of this system such as overshoots and settling time are not acceptable. For example the settling time of this system is upwards of 10 seconds. The discussed method can improve the time domain performance of this system. The simulation results proven that this method enhanced stability as well as ease of tuning. The presented controller is designed and evaluated using MATLAB/Simulink.

The digital control of speed of a permanent magnet DC motor based on a digital computer is analyzed in this paper. Datasheet information about the DC motor was initially unknown. Therefore, the parameter identification and parameter estimation of the motor was done. A type of PID controller, which parameters were optimized (PI), was used in process of controlling the speed of the motor. DAQ acquisition card was used for the purposes of motor's parameter identification and realization of computer control of motor speed in closed feedback loop. Manipulations with the same DAQ card were done using Matlab/Simulink software package. Experimental results were compared with the results obtained by simulation.

A robotic arm having two links is considered in
this report for modeling and control. First the dynamic model
of the robot is obtained using the so-called Lagrange equation,
then a robust control strategy based on the conventional sliding
mode control is introduced to control the motion of the robot at
specific position for pick and place tasks along with PID control
scheme. The results of the two controllers are compared. From
the simulation results the SMC is found to be superior to the PID
controller in term of fast and robust response yet with higher
control input. High join speeds are observed in case of SMC
which are related to the high control signals.

Resumen — El presente trabajo describe el diseñó de un circuito de potencia y su simulación que permitirá mantener constante la salida de voltaje (48V) y potencia (1kW) durante una hora, este sistema será usado para alimentar el funcionamiento de un motor DC de imanes permanentes con una reserva de energía en un módulo de supercapacitores. Los elementos utilizados en el convertidor bidireccional DC-DC fueron diseñados y seleccionados para cumplir con los requisitos de funcionamiento del sistema. Se propone un lazo de control PID, el cual podrá regular la señal PWM para el correcto funcionamiento de los interruptores de potencia. Se realizaron pruebas para validar el circuito en relación con los resultados obtenidos. El transistor mosfet de canal N seleccionado de una lista de diferentes tipos de conmutadores, esto se debe a que sus características se ajustan a los parámetros requeridos. El diseño especifica el tipo y valor de cada uno de los componentes, así como las ecuaciones y los métodos utilizados para obtener los valores de salida. Abstract—The power design circuit and simulation to maintain constant the voltage (48V) and power (1kW) parameters for one hour used for the operation of a permanent magnet DC motor with a backup of the energy of a supercapacitors module was presented. The elements used in a bidirectional DC-DC converter were designed and selected to meet the proposed requirements. A PID control system are proposed, which will be able to control the PWM for the correct operation of the power switches. Tests were performed to validate the circuit in relation to the results obtained. The N-channel mosfet was selected from different types of switches because its characteristics conform to the established parameters. The design specifies the type and value of each of the components, as well as the equations and methods used to obtain the output values.