Simulink Control Design™ - MathWorks

Figure 27: Comparing Two Designs. The second design is less aggressive but still meets the response time requirement. Control of ...

Figure 28: Step Responses of Two Designs. Finally, push the new tuned gain values to the Simulink model by Update Blocks and sim ...

Figure 29: Nonlinear Response of Tuning with Gain Constraints. Figure 30: Current Controller Output. Control of a Linear Electri ...

The nonlinear responses are now satisfactory and the current loop is no longer saturating. The additional gain constraints have ...

Multi-Loop PI Control of a Robotic Arm This example shows how to use looptune to tune a multi-loop controller for a 6-DOF roboti ...

Figure 1: Robotic arm manipulator. The file "cst_robotarm.slx" contains a Simulink model of the electrical and mechanical compon ...

Figure 2: Simulink model of robotic arm. The "Controller" subsystem consists of six digital PI controllers (one per joint). Each ...

Figure 3: Controller structure. Typically, such multi-loop controllers are tuned sequentially by tuning one PID loop at a time a ...

Press the "Play" button in the Simulink model to simulate the angular trajectories for the PI gain values specified in the model ...

13 Control System Tuning Examples ...

Figure 4: Untuned response. Linearizing the Plant The robot arm dynamics are nonlinear. To understand whether the arm can be con ...

(outputs of PID blocks) and the measurement signals (output of "6 DOF Robot Arm" block). SnapshotTimes = 0:1:5; % Plant is from ...

While the dynamics vary significantly at low and high frequency, the variation drops to less than 10% near 10 rad/s, which is ro ...

% Linearize the plant at t=3s tLinearize = 3; % Create slTuner interface TunedBlocks = {'turntablePID','bicepPID','forearmPID',. ...

stepplot(T0,'b--',T1,'r',4,opt) legend('Initial','Tuned','location','SouthEast') The six curves settling near y=1 represent the ...

Figure 5: Two degree-of-freedom PID controllers. By default, looptune only tunes the feedback loop and does not "see" the feedfo ...

Validating the Tuned Controller The tuned linear responses look satisfactory so write the tuned values of the PI gains back to t ...

13 Control System Tuning Examples ...

Figure 6: Tuned angular responses. The nonlinear response of the Bicep joint noticeably undershoots. Further investigation sugge ...

13 Control System Tuning Examples ...