ME 456 - Fall 2001 - H5
Name ________________________
1) Download PID.ZIP from http://www.me.psu.edu/sommer/me456/. This ZIP archive contains
PID.EXE a compiled QuickBASIC program to simulate PID joint control of a simple two-link
anthropomorphic manipulator moving in a vertical plane. The program creates data file PID.DAT
containing joint and end-point position and velocity trajectories. Source code is provided in PID.BAS .
position A = ( 1 , 2 ) = ( -40 deg, -40 deg )
position B = ( 1 , 2 ) = ( 20 deg, 20 deg )
2) Run PID.EXE and use:
3) Use both joint interpolated motion and straight line interpolated motion to create data files for each
case. Plot joint angles versus time and joint velocities versus time from these data files.
4) Use PID control with recommended settings and record settling time, overshoot and steady-state
droop for each joint in the table below.
5) Repeat part 4) but with no derivative gain. Describe the resulting motion in words.
6) Repeat part 4) but with no integral gain. Describe the resulting motion in words.
7) Repeat part 4) but with ALL gains set to zero. Describe the resulting motion in words.
8) Experiment with the PID gains to minimize settling time and record your results below.
m2
r2
POSITION A
r1
2
m1
1
1
POSITION B
2
JOINT ONE
KP, KI, KD
JOINT TWO
KP, KI, KD
Settling
Time [sec]
Overshoot
1 , 2 [deg]
Steady-state Droop
1 , 2 [deg]
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