Design of Classic and Fuzzy PID, PD, and PI Controllers for Control of a Bascule Lift Mechanical Arm

Document Type : Original Article

Authors

1 PhD Student, Department of Management Industrial, Firoozkooh Branch, Islamic Azad University, Firoozkooh, Iran

2 Associate Professor, Department of Management Industrial, Firoozkooh Branch, Islamic Azad University, Firoozkooh, Iran

Abstract

Robotics has been widely used to develop industries and reduce human injuries, and by adjusting the controller to achieve proper speed and accuracy, improvement of the performance of these robots and reducing the number of injuries can be achieved. Until now, controllers have often used the governing equations of direct and inverse kinematics, aiming to control the position of the final actuator of the arm. Difficulty to solving direct and inverse kinematics equations, errors in solving equations, lack of user-friendly environment, inflexibility in decision-making and the volume of calculations are among the problems of existing robotic control systems. In this article, the lifting robot is modeled by two control methods (Classic and Fuzzy) with 4 degrees of freedom, in which four parts of the arm are checked by PID, PD and PI controllers and Matlab-Simulink is used as a tool for testing the robot's movement characteristics. It was observed that the PD controller, despite not having a high percentage, leads to a steady state error in most cases. While, the PI controller provides a favorable settling time in most cases, it has a higher increase percentage than PID. Finally, the results showed that the fuzzy PID controller provides better responses than the classical PID controller and the classical and fuzzy PI and PD controllers.
 

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Journal of Advanced Defense Science & Technology
Volume 13, Issue 3 - Serial Number 49
January 2023
Pages 179-190

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History

  • Receive Date: 07 September 2022
  • Revise Date: 07 November 2022
  • Accept Date: 15 November 2022

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