Tuning PID Controller Parameters to avoid the Effect of Integrator Wind-up by using The Experimental-based Heuristic Approach

摘要

Dc motor is widely used as actuator in industry and robotics. In this experiment a dc motor is used as an Omni wheel actuator on Omni-directional 3WD robot. In order for the movement of the robot to follow the specified vector quantity, then the speed of the wheels connected in each motor shaft must persist at each set of points that have been determined. For these needs then, every dc motor must be controlled the number of revolutions. One of the problems with implementing a PID controller is the possibility of a wind-up integrator effect that causes the system to be unable to follow the command behavior. The purpose of this study was to obtain PID controller parameters in such a way as to avoid the effects of wind-up integrators and achieve the best system response performance using an experimental based heuristic approach. The results of this study show that the wheel spin is able to follow various reference speeds with settling time and steady state error at about 1.1s and 0.648%.