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    PID Control Using Scilab

    Uploaded by

    Anand Raj
    This document summarizes a lab report on implementing a PID controller for a 1 degree of freedom robot manipulator using Scilab. The report discusses using Scilab's Xcos block diagram editor to simulate a PID controller model. Results are presented comparing P, PI, and PID control, showing the PID controller stabilizes the system fastest, within 1.5 seconds. The conclusion states that PID control is an effective method for controlling robot manipulators, as demonstrated through this Scilab simulation.

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    PID Control Using Scilab

    Uploaded by

    Anand Raj
    2K views7 pages
    This document summarizes a lab report on implementing a PID controller for a 1 degree of freedom robot manipulator using Scilab. The report discusses using Scilab's Xcos block diagram editor to simulate a PID controller model. Results are presented comparing P, PI, and PID control, showing the PID controller stabilizes the system fastest, within 1.5 seconds. The conclusion states that PID control is an effective method for controlling robot manipulators, as demonstrated through this Scilab simulation.

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    PID control using Scilab - lab report 2013

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    PID control using Scilab

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    This document summarizes a lab report on implementing a PID controller for a 1 degree of freedom robot manipulator using Scilab. The report discusses using Scilab's Xcos block diagram editor to simulate a PID controller model. Results are presented comparing P, PI, and PID control, showing the PID controller stabilizes the system fastest, within 1.5 seconds. The conclusion states that PID control is an effective method for controlling robot manipulators, as demonstrated through this Scilab simulation.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    2K views7 pages

    PID Control Using Scilab

    Uploaded by

    Anand Raj
    This document summarizes a lab report on implementing a PID controller for a 1 degree of freedom robot manipulator using Scilab. The report discusses using Scilab's Xcos block diagram editor to simulate a PID controller model. Results are presented comparing P, PI, and PID control, showing the PID controller stabilizes the system fastest, within 1.5 seconds. The conclusion states that PID control is an effective method for controlling robot manipulators, as demonstrated through this Scilab simulation.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 7

    PID CONTROL Lab report- 2013

    M.Tech Mechatronics

    Aim:

    Demonstrate understanding of scilab for dealing with transfer function. Demonstrate its use for implementing a PID controller for stabilizing a 1- DOF robot manipulator. Use of PID controller for 1 dof manipulator.... Step by step process is discussed below. Step1 - The use of PID controller is discussed in submitted answer sheet. Step2 - The general block diagram of PID controller is drawn in the sheet. Step3 - Using scilab the PID controller is simulated. Step4 - We use Xcos in scilab for simulating the block diagram. Xcos is a block diagram Editor and GUI for hybrid simulator. Step5 - The below diagram explains simulation in Xcos and corresponding graph.

    Logic:

    Block Diagram:

    Figure 2

    Scilab comes with an application called Xcos. With this application we can formulate our problem. In Xcos we can construct models of hybrid dynamic models. Models can be assembled, loaded, saved, compiled, simulated using GUI of Xcos. We can use it as block diagram editor.

    Results:

    1) With P=1, I=0, D=0here

    Here we can understand that the output shoots to peek after time lag, and it takes 9 sec to reach input value

    2) With P=10, I=0, D=0

    Here the signal overshoots and undershoots frequently and reaches near input at 10 sec

    3) With P=10, I=2, D=6

    Here the D component makes the output to reach input in 1.5 sec Code Generation_

    function [x,y,typ]=PID(job,arg1,arg2) x=[];y=[],typ=[] select job case 'plot' then standard_draw(arg1) case 'getinputs' then [x,y,typ]=standard_inputs(arg1) case 'getoutputs' then [x,y,typ]=standard_outputs(arg1) case 'getorigin' then [x,y]=standard_origin(arg1) case 'set' then newpar=list(); xx1=arg1.model.rpar.objs(3) exprs(1)=xx1.graphics.exprs(1)

    p_old=xx1.model.rpar xx2=arg1.model.rpar.objs(5) exprs(2)=xx2.graphics.exprs(1) i_old=xx2.model.rpar xx3=arg1.model.rpar.objs(6) exprs(3)=xx3.graphics.exprs(1) d_old=xx3.model.rpar y=0 while %t do [ok,p,i,d,exprs0]=scicos_getvalue('Set PID parameters',.. ['Proportional';'Integral';'Derivation'],list('vec',-1,'vec',-1,'vec',1),exprs) if ~ok then break,end if ok then xx1.graphics.exprs=exprs0(1) xx1.model.rpar=p xx2.graphics.exprs=exprs0(2) xx2.model.rpar=i xx3.graphics.exprs=exprs0(3) xx3.model.rpar=d arg1.model.rpar.objs(3)=xx1 arg1.model.rpar.objs(5)=xx2 arg1.model.rpar.objs(6)=xx3 break end end

    Conclusion:
    Thus we can understand that the PID controller is effective control method and it can be used for the robot manipulator which can be designed using Xcos of Scilab.

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