PID Controller Design and Implementation for Multibody Mechatronic Systems | ||
| Benha Journal of Applied Sciences | ||
| Volume 10, Issue 4, April 2025, Pages 1-8 PDF (1.07 M) | ||
| Document Type: Original Research Papers | ||
| DOI: 10.21608/bjas.2025.371017.1650 | ||
| Authors | ||
| Ibrahim Abdel-Hady Ibrahim* 1; Ayman Ali Nada2; Nader Abdelwahab Mansour3; Mona Ali Bayoumi4 | ||
| 1Mechanical Engineering, Benha Faculty of Engineering, Benha University. | ||
| 2Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt | ||
| 3Mechanical Engineering, Benha Faculty of Engineering, Benha university | ||
| 4Electrical Engineering, Benha Faculty of Engineering, Benha University | ||
| Abstract | ||
| The multibody dynamics (MBDs) approach is mainly used for modelling and simulating mechanical systems, especially if they have complex dynamic analysis. Stabilization controllers are added to provide constraint stability during validation of the multibody equations. For controller design, model linearization should be addressed to obtain the state-space formulation. On the other hand, field-programmable gate arrays (FPGAs) are widely used for the fast development of control systems and embedded applications. Thus, they are suitable for the stabilization of underactuated mechatronic applications. Thus, MATLAB software is used to build the symbolic model and the computational simulation of an inverted wheeled robot. Then, the PID controller is designed and simulated for this application. Simulation results show the effectiveness of the multibody dynamics approach in the formulation of the state space model-based controllers of mechatronic applications. The LabVIEW FPGA module is used to implement the controller on the sbRIO 9631 single RIO board. The results show that the settling time is 2 seconds, and the steady-state error is ±0.5 degrees at the zero-tilt angle set point. | ||
| Keywords | ||
| Mulltibody Modelling; MBDs; Self-balancing Robot; FPGAs; real-time PID | ||
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