Optimization of the Parameters of the PID Controller for the Control System of a Hexapod-Based Dynamic Mobility Platform for Training Complexes
https://doi.org/10.56304/S2304487X22030099
Abstract
The problem of designing a control system and optimizing parameters using a proportional–integral– derivative (PID) controller for hexapod robots, which are widely used in various fields such as dynamic simulators, robotic manipulators, and orientation systems is considered. When designing such systems, computer modeling is used, and an important issue is the creation of a simulation model of the hexapod control system and the assessment of positioning errors. A simulation model of a hexapod robot developed in the SolidWorks computer-aided design system has been reported. The hexapod robot control system has been simulated in the MATLAB software environment, which includes the Simulink library. In the process of simulation, changes in the position of the coordinates of the center of the movable platform with time, positioning errors of the hexapod rods, and forces applied to each hexapod rod in a certain period of time have been obtained at given PID controller coefficients.
About the Authors
L. A. Rybak
Belgorod State Technological University
Russian Federation
Russian Federation
Belgorod
308012
D. I. Malyshev
Belgorod State Technological University
Russian Federation
Russian Federation
Belgorod
308012
E. V. Gaponenko
Belgorod State Technological University
Russian Federation
Russian Federation
Belgorod
308012
V. S. Perevuznik
Belgorod State Technological University
Russian Federation
Russian Federation
Belgorod
308012
A. A. Voloshkin
Belgorod State Technological University
Russian Federation
Russian Federation
Belgorod
308012
References
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Review
For citations:
Rybak L.A., Malyshev D.I., Gaponenko E.V., Perevuznik V.S., Voloshkin A.A. Optimization of the Parameters of the PID Controller for the Control System of a Hexapod-Based Dynamic Mobility Platform for Training Complexes. Vestnik natsional'nogo issledovatel'skogo yadernogo universiteta "MIFI". 2022;11(3):254–259. (In Russ.) https://doi.org/10.56304/S2304487X22030099
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