A novel real-time control system for plasma cutting robot with xPC target

SOYLAK M.

ADVANCES IN MECHANICAL ENGINEERING, cilt.8, sa.4, 2016 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 8 Sayı: 4
  • Basım Tarihi: 2016
  • Doi Numarası: 10.1177/1687814016644128
  • Dergi Adı: ADVANCES IN MECHANICAL ENGINEERING
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Anahtar Kelimeler: Proportional-integral-derivative control, real-time control, plasma cutting, MATLAB xPC, mechatronics, FUZZY CONTROL, STABILITY ANALYSIS, ADAPTIVE-CONTROL, TRACKING CONTROL, DESIGN
  • Erciyes Üniversitesi Adresli: Evet

Özet

In this article, a novel inexpensive controller system for plasma cutting robots built based on MATLAB xPC is presented. The plasma cutting robot model with 5 degrees of freedom is constructed in the MATLAB/Simulink of the host machine, where the code is generated by real-time workshop and downloaded on the target machine. Two different types of proportional-integral-derivative controllers are applied on the experimental robot manipulator for the real-time plasma cutting process's trajectory control using this hardware system. First, the performance of a standard proportional-integral-derivative controller is evaluated on this manipulator. Then, a novel proportional-integral-derivative controller structure is used to control the system, and it is compared with a standard proportional-integral-derivative controller. This study shows that the control system for a plasma cutting robot can be established inexpensively, and MATLAB xPC and different controllers can be applied on this system. Moreover, the study concludes that the novel proportional-integral-derivative controller used in this study gives better results for plasma cutting robots than the standard proportional-integral-derivative controller.