NDLI: Pid Controllers Design Applied to Positioning of Ball on the Stewart Platform

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Pid Controllers Design Applied to Positioning of Ball on the Stewart Platform

Content Provider	Semantic Scholar
Author	Koszewnik, Andrzej Troc, Kamil Słowik, Maciej
Copyright Year	2014
Abstract	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.
File Format	PDF HTM / HTML
Alternate Webpage(s)	http://www.actawm.pb.edu.pl/volume/vol8no4/39_2014_016_KOSZEWNIK_TROC_SLOWIK.pdf
Language	English
Access Restriction	Open
Subject Keyword	Algorithm Arduino Butterworth filter Calibration Control system Controllers Coupling (computer programming) Identifier MATLAB Microcontroller PID Preparation Real-time operating system Sensor Servo Device Component Simulink Touchscreen
Content Type	Text
Resource Type	Article

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