Title :
Control Modeling for Accelerator Leg of Robot Driver
Author :
Niu, Zhigang ; Sun, Yunping
Author_Institution :
Coll. of Mech. Eng., Taiyuan Univ. of Technol., Taiyuan
Abstract :
The dynamic physics rule mathematical model of accelerator leg is established, thus, the transfer function of control system is obtained. PID control method is used to design system controller. The critical proportioning method is used to determine the initial parameters of PID controller. SIMULINK is used to simulate the control system based on the initial installed parameters. The parameters of the PID controller are further adjusted according to the simulation results.
Keywords :
control system synthesis; industrial manipulators; position control; service robots; three-term control; transfer functions; PID control method; SIMULINK; accelerator leg; control system; critical proportioning method; robot driver; system controller design; transfer function; Automatic control; DC motors; Leg; Legged locomotion; Mathematical model; Servomechanisms; Servomotors; Three-term control; Torque control; Vehicle dynamics; PID; accelerator leg; control modeling; robot driver;
Conference_Titel :
Informatics in Control, Automation and Robotics, 2009. CAR '09. International Asia Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-3331-5
DOI :
10.1109/CAR.2009.100
