PID Tuning Method on AGV (automated guided vehicle) Industrial Robot
محورهای موضوعی : فصلنامه شبیه سازی و تحلیل تکنولوژی های نوین در مهندسی مکانیک
Ata Jahangir Moshayedi
1
(School of Information Engineering, Jiangxi University of Science and Technology,No 86, Hongqi Ave, Ganzhou, Jiangxi,341000, China)
Atanu Roy
2
(School Of Information Engineering,Jiangxi University Of Science And Technology, No86, Hongqi Ave,Ganzhou,Jiangxi,341000, China)
Liefa Liao
3
(School of Information Engineering,
Jiangxi University of Science and Technology,
No86, Hongqi Ave, Ganzhou, Jiangxi, 341000, China.)
کلید واژه: AGV, PID, automated guided vehicle, PID Tune, Ziegler-Nichols,
چکیده مقاله :
Controlling a system can be done in various ways and methods. The classical method which even now a day as a solution works is PID which in that with some method three-parameter of controller called P (Proportional), I (Integral), D (Derivational) tuned to have the best controlling response from a system. The AGV robot as the abbreviation of the Automated Guided Vehicle is as a famous robot platform which used in various industries relies on PID controllers in various ways. Each AGV or Machine has its own set of function, hence, in order to accomplish the exact set of workload more efficiently one need to actually tune the PID parameters accordingly so that there cannot be an intolerable amount of energy loss, inefficiency rate, lag, lack of robustness etc. In this paper over than introduction of PID controller and see the effect of each parameter on the real system the compassion between hired methods on AGV robot are investigated. As this review indicates that various PID tune method are used based on system requirements with the help of Lyapunov Direct Method, traditional Ziegler Nichols, Fuzzy controller, human immune system called the humoral, neural network, etc to control the speed and steering of an AGV systems.
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