Muhammed Arif ŞEN, Veli BAKIRCIOĞLU, Mete KALYONCU

Dört Ayaklı Robotlar için Üç Serbestlik Dereceli Bacak Tasarımı ve Kesir Dereceli PID (PIλDμ) Tabanlı Kontrolü

Dört ayaklı robotlar, tekerlekli sistemlere kıyasla farklı arazi şartlarında yüksek hareket kabiliyetinesahip, karmaşık dinamik yapısı nedeniyle robotik ve kontrol alanında popülerliğini artıran, bacaklı mobilrobotlardır. Bu çalışmada; yürüyüş planlaması, adım yörüngesi tasarımı, gövdenin denge kontrolü gibikonularda hızlı ve etkili bir benzetim yapabilmek amacıyla, üç serbestlik dereceli doğrusal bacak modelive kontrolü sunulmuştur. Uzuv boyutlar, kütle, atalet, eklem sertlik ve sönüm değerleri vb. gibi dinamikparametreleri içeren gerçekçi bir fiziksel model Matlab/Simulink/ Simscape’de tasarlandı ve benzetimigerçekleştirildi. Robotun yürüyüşü boyunca standart bir adım yörüngesini gerçekleştirmek için gereklieklemlere ait açısal konum aralıkları dikkate alınarak, fiziksel model üzerinden doğrusallaştırma araçlarıkullanılarak, girişi tork-çıkışı açısal konum olacak şekilde, sistemin doğrusal Durum-Uzay modeli eldeedilmiştir. Sistemin doğrusal model ile fiziksel modelinin, sabit tork girişine karşın birim basamakcevapları karşılaştırılmış ve küçük hata değerleri ile modellere ait cevapların birbirine benzer sonuçlarverdiği görülmüştür. Doğrusal model üzerinden sistemin, farklı kesir dereceleri seçilerek tasarlanan PIλDμ kontrolcüleri ile açısal konum kontrolü, klasik PID kontrolcü ile karşılaştırmalı olarak gerçekleştirmiştir. Benzetim sonuçları sunulmuş ve değerlendirilmiştir.

Anahtar Kelimeler:

3DoF dört ayaklı robot bacağı, gerçekçi model, doğrusal modelleme, PIλDµ kontrolcü

THREE DEGREE OF FREEDOM LEG DESIGN FOR QUADRUPED ROBOTS AND FRACTIONAL ORDER PID (PIλDμ) BASED CONTROL

Quadruped robots are legged mobile robots that increase their popularity in robotic and control areas due to their complex dynamic structure with high mobility in different terrain conditions compared to wheeled systems. In this study; A 3-DoF linear leg model and its control are provided in order to enable quickly and effectively simulate about on such subjects that walking planning, foot trajectory design and body stability control of robot. A realistic physical model with parameters such as the dimensions, masses, inertia of limbs and the stiffness and damping values of joints is designed on Matlab/SimMechanics and simulated on Simulink environments. By taking into account the angular position ranges of the joints required for the robot to perform a standard step trajectory during the walk, the linear state-space model of the system (torque input- angular position output) is obtained using the linearization tools over the physical model. The unit step responses of the physical model are compared with the obtained linear model responses under constant torque input and it is understood to give similar results with small error values. Using the linear model, the angular position control of the system is achieved with PIλDµ controllers designed by selecting various parameters of fraction orders as comparatively the classical PID. Simulation results are presented and investigated.

Keywords:

3DoF quadruped robot leg, realistic model, linear modelling, PIλDµ controller,

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