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Khosravi, M. A., Taghirad, Hamid D.. (1395). Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables. نشریه مهندسی عمران امیرکبیر, 48(2), 113-126. doi: 10.22060/eej.2016.821
M. A. Khosravi; Hamid D. Taghirad. "Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables". نشریه مهندسی عمران امیرکبیر, 48, 2, 1395, 113-126. doi: 10.22060/eej.2016.821
Khosravi, M. A., Taghirad, Hamid D.. (1395). 'Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables', نشریه مهندسی عمران امیرکبیر, 48(2), pp. 113-126. doi: 10.22060/eej.2016.821
Khosravi, M. A., Taghirad, Hamid D.. Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables. نشریه مهندسی عمران امیرکبیر, 1395; 48(2): 113-126. doi: 10.22060/eej.2016.821

Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables

AUT Journal of Electrical Engineering
مقاله 6، دوره 48، شماره 2، زمستان 2016، صفحه 113-126  XML اصل مقاله (5113 K)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22060/eej.2016.821
نویسندگان
M. A. Khosravi 1؛ Hamid D. Taghirad2
1Assistant Professor, Department of Electrical Engineering, Amirkabir University of Technology
2Professor, Faculty of Electrical Engineering, K. N. Toosi University of Technology
چکیده
In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly designed and then, this controller is modified for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable driven robot.
کلیدواژه ها
Cable Robots؛ Elasticity؛ Singular Perturbation؛ Stability Analysis
عنوان مقاله [English]
Stability Analysis and Robust PID Control of Cable Driven Robots Considering Elasticity in Cables
نویسندگان [English]
M. A. Khosravi1؛ Hamid Taghirad2
1Assistant Professor, Department of Electrical Engineering, Amirkabir University of Technology
2Professor, Faculty of Electrical Engineering, K. N. Toosi University of Technology
چکیده [English]
In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly designed and then, this controller is modified for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable driven robot.
کلیدواژه ها [English]
Cable Robots, Elasticity, Singular Perturbation, Stability Analysis
مراجع
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[18] Khosravi, M. A. and Taghirad, H. D.; “Dynamic Analysis and Control of Cable Driven Robots with Elastic Cables,” Trans. Can. Soc. Mech. Eng., Vol. 35, No. 4, pp. 543–557, 2011.

[19] Khosravi, M. A. and Taghirad, H. D.; “Dynamic Modeling and Control of Parallel Robots with Elastic Cables: Singular Perturbation Approach,” IEEE Trans. on Robotics, Vol. 30, No. 3, pp. 694–704, 2014.

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