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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، بهمن 2016، صفحه 113-126 اصل مقاله (4.99 M) | ||
| نوع مقاله: Research Article | ||
| 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. | ||
| کلیدواژه‌ها | ||
| 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. | ||
| کلیدواژه‌ها [English] | ||
| Cable Robots, Elasticity, Singular Perturbation, Stability Analysis | ||
| مراجع | ||
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[15] Khosravi, M. A. and Taghirad, H. D.; “Robust PID Control of Fully-Constrained Cable Driven Parallel Robots,” Mechatronics, Vol. 24, No. 2, pp. 87–97, 2014.
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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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[24] Khosravi, M. A. and Taghirad, H. D.; “Experimental Performance of Robust PID Controller on a Planar Cable Robot,” Proceedings of the First International Conference on Cable-Driven Parallel Robots, pp. 337–352, 2012. | ||
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