Discrete Control for an Industrial Manipulator Using both Dahlin Algorithm and Internal Model Control Design Approaches

Abstract:

This paper presents the design of a discrete controller for the positioning of an industrial manipulator used to extract preheated billets from inside a rotary hearth furnace. The comparison between two common discrete design algorithms is made: the Dahlin algorithm and the Internal model control (IMC) method. Both methods are based on the manipulator’s positioning system discrete-time model. For each design method different controllers are derived. The obtained controllers are compared via simulation based on their overall performances. For the most suitable discrete controller the ringing effect is analyzed and a method to eliminate it is proposed.

• Periodical: Applied Mechanics and Materials (Volume 656)
• Pages: 360-368
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.656.360
• Online since: October 2014
• Authors: Iulia Clitan*, Vlad Mureşan, Andrei Florin Clitan, Mihai Abrudean
• Keywords: Dahlin Algorithm, Discrete Controller, Industrial Manipulator, Internal Model Control, Positioning System

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