{"title":"二自由度机械臂PID控制与PDF控制的比较","authors":"Ming-hui Qiang, Bai Yu, Jia Feng, Edwards Gerard","doi":"10.2991/pntim-19.2019.30","DOIUrl":null,"url":null,"abstract":"This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45","PeriodicalId":344913,"journal":{"name":"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator\",\"authors\":\"Ming-hui Qiang, Bai Yu, Jia Feng, Edwards Gerard\",\"doi\":\"10.2991/pntim-19.2019.30\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45\",\"PeriodicalId\":344913,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)\",\"volume\":\"80 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.2991/pntim-19.2019.30\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2991/pntim-19.2019.30","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Compare PID and PDF Control in 2 Degree of Freedom Robotic Manipulator
This paper compare the differences between Proportional Integral Derivative (PID) and Pseudo Derivative Feedback (PDF) control algorithms in a two degree of freedom (DOF) planar robot manipulator. The PID and PDF control algorithms are compared in MATLAB which is a simple and practical tool for testing algorithms. An ODE45 function of MATLAB was used in order to solve differential equations. The solution of the differential equation contains the force acting on the actuator. Moreover, since the gain is unknown, a mathematical approach was introduced to carry out the gain. Simulation results showed that PDF control algorithm is shown to be superior to PID control algorithm by comparing the responses in MATLAB. Overshooting appeared in the PID algorithm disappears in the PDF algorithm. Keywords-PID; PDF; Control; Algorithms; MATLAB; Ode45
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
