Anzeige
Erschienen in:
2016 | OriginalPaper | Buchkapitel
Comparison Among Experimental PID Auto Tuning Methods for a Self-balancing Robot
verfasst von : Marcus Romano Salles Bernardes de Souza, Rodrigo Hiroshi Murofushi, José Jean-Paul Zanlucchi de Souza Tavares, José Francisco Ribeiro
Erschienen in: Robotics
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Abstract
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.