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  • PD Pid Tau

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    ANDREA ESTEFANIA PILCO ATI
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    This document summarizes the differences between PD and PID controllers for robotics. It includes sections on PD control, PID control, graphs comparing PD and PID performance, and conclusions. The conclusions are that the PID controller stabilizes more quickly than the PD controller without overshoot. PID graphs also show less overshoot and oscillation than PD graphs. The PID control helps dampen vibrations in robot arms.

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    PD-PID-TAU

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    PD-PID-TAU

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    This document summarizes the differences between PD and PID controllers for robotics. It includes sections on PD control, PID control, graphs comparing PD and PID performance, and conclusions. The conclusions are that the PID controller stabilizes more quickly than the PD controller without overshoot. PID graphs also show less overshoot and oscillation than PD graphs. The PID control helps dampen vibrations in robot arms.

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    14 views3 pages

    PD Pid Tau

    Uploaded by

    ANDREA ESTEFANIA PILCO ATI
    This document summarizes the differences between PD and PID controllers for robotics. It includes sections on PD control, PID control, graphs comparing PD and PID performance, and conclusions. The conclusions are that the PID controller stabilizes more quickly than the PD controller without overshoot. PID graphs also show less overshoot and oscillation than PD graphs. The PID control helps dampen vibrations in robot arms.

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    DEPARTAMENTO DE CIENCIAS DE LA ENERGÍA Y

    MECÁNICA
    ROBÓTICA INDUSTRIAL
    ING. FRANCISCO TERNEUS
    NRC 2314

    CONTROLADOR PD Y PID

    DAVID PAREDES
    JUAN ORDOÑEZ
    ANDREA PILCO
    2014/05/16

    CONTROLADOR PD
    CONTROLADOR PID

    GRAFICAS DEL PD - PID Y TAU


    CONCLUSIONES

     En el controlador PD que es de color verde se puede observar que se demora en estabilizarse, es


    por eso que se opta por el control PID la gráfica correspondiente es de color azul, la cual se
    caracteriza por no poseer sobrepico.
     En grafica podemos notar que existe un torque alto en el control PD con un gran sobrepico
    siendo esta la de color rojo, mientras que el sobrepico disminuye en el control PID siendo su
    grafica la de color amarillo.
     El efecto del control ayuda a no provocar ondulaciones porque los brazos robot no vibran sino
    que son críticamente amortiguados.

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