Comparison Among Experimental PID Auto Tuning Methods for a Self-balancing Robot
| Autor: | J.F. Ribeiro, Rodrigo Hiroshi Murofushi, José Jean-Paul Zanlucchi de Souza Tavares, Marcus Romano Salles Bernardes de Souza |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Computer science PID controller ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology law.invention Inverted pendulum Auto tuning 020901 industrial engineering & automation Control theory Relay law 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing |
| Zdroj: | Communications in Computer and Information Science ISBN: 9783319472461 |
| DOI: | 10.1007/978-3-319-47247-8_5 |
| Popis: | A self-balancing robot, also known as two-wheeled vehicle is an unstable system and it can be approximated to inverted pendulum, so there is a need of a suitable controller so that it can be stabilized. This paper compares five PID design techniques without mathematical model of the system in order to remain it stand. The PID tuning methods discussed are Manual, Ziegler-Nichols, Relay, Augmented Ziegler-Nichols and Augmented Relay. The augmented method modifies the PID constants online depending on the error value and use a Ziegler-Nichols or Relay PID tuned controller as initial one. Some experimental results presented suggest that the Ziegler-Nichols tuning method is slightly better than the other techniques. All the electronic gadgets and algorithms are embedded in the prototype. |
| Databáze: | OpenAIRE |
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