Tune PID controller for networked scara robot on Truetime

Hai,

I did networked scara robot 2DOF on TrueTime I used PD controller. without networked, the output reponse was ok. when i networked the scara robot with Truetime based CAN networked, the output was not stable..i thnk because of the network delay.the scara robot was using dynamic model.when i networked only the kinematic model..the simulation is working. Can somebody help me how to tune the PD?

[Valmir Sadiku]

i could imagine that it doesn't lies on the PD controller but rather on the real-time ability of your CAN network.

[amira sarayati]

Thank you Valmir Sadiku. yeap.its true because the networked got delay. now its already have response and almost near to the input response. i tune manually the PID/PD controller. Did anyone can suggest the best PID tuning method for MIMO

Answer 1

[Arkadiy Turevskiy]

For MIMO PID tuning, if you have your plant model, you can look at systune function in Robust Control Toolbox. With this function you can setup any control architecture, and then tune the gains to meet your requirements.

You can read more here.

Here is a video showing tuning of 2x2 MIMO PID controller.

Arkadiy