<abstract xmlns="http://www.w3.org/1999/xhtml"><p>The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor and servo motors as actuators. The complete control system stabilizing the ball on the platform is realized with the Arduino microcontroller and the Matlab/Simulink software. Two processes required to acquire measurement signals from the touch panel in two perpendicular directions X and Y, are discussed. The first process includes the calibration of the touch panel, and the second process - the filtering of measurement signals with the low pass Butterworth filter. The obtained signals are used to design the algorithm of the ball stabilization by decoupling the global system into two local subsystems. The algorithm is implemented in a soft real time system. The parameters of both PID controllers (PIDx and PIDy) are tuned by the trial-error method and implemented in the microcontroller. Finally, the complete control system is tested at the laboratory stand. </p></abstract>

The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor and servo motors as actuators. The complete control system stabilizing the ball on the platform is realized with the Arduino microcontroller and the Matlab/Simulink software. Two processes required to acquire measurement signals from the touch panel in two perpendicular directions X and Y, are discussed. The first process includes the calibration of the touch panel, and the second process - the filtering of measurement signals with the low pass Butterworth filter. The obtained signals are used to design the algorithm of the ball stabilization by decoupling the global system into two local subsystems. The algorithm is implemented in a soft real time system. The parameters of both PID controllers (PIDx and PIDy) are tuned by the trial-error method and implemented in the microcontroller. Finally, the complete control system is tested at the laboratory stand.

PID Controllers Design Applied to Positioning of Ball on the Stewart Platform

Faculty of Mechanical Engineering, Bialystok University of Technology, ul. Wiejska 45C, 15-351 Białystok, Poland

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"PID Controllers Design Applied to Positioning of Ball on the Stewart Platform"}

The paper presents the design and practical implementation of PID controllers for a Stewart platform. The platform uses a resistance touch panel as a sensor...

PID Controllers Design Applied to Positioning of Ball on the Stewart Platform

Data publikacji: 27 sty 2015

Zakres stron: 214 - 218

DOI: https://doi.org/10.2478/ama-2014-0039

© Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.