Abstract—The presented paper descries the implementation of a discrete control law, for an industrial manipulator, using MATLAB as computer software. The software implementation is done in order to test the overall performances of the discrete control law, since the on-site testing is not possible due tot the continuous functioning of the industrial manipulator as an unloading billets machine from a rotary hearth furnace, part of the hot rolling process. First, the magnitude optimum criterion, the Kessler variant, is applied as tuning method for the industrial manipulator’s positioning system since the continuous model is already known, due to prior research. Further, the discrete control is derived from the pulse transfer function yielded from digitizing the continuous control. The discrete control law is implemented as a discrete control structure using unit delay blocks and as a dependency law using the MATLAB function block. The overall performances are tested, and they meet the performance expected by Kessler's tuning method.
Index Terms—Positioning system, industrial manipulator, magnitude optimum criterion (the Kessler variant), discrete control, dependency law.
Iulia Clitan, Vlad Muresan, and Mihail Abrudean are with the Automation Department, Technical University of Cluj-Napoca, Romania (e-mail: iulia.inoan@aut.utcluj.ro, vlad.muresan@aut.utcluj.ro, mihai.abrudean@aut.utcluj.ro).
Andrei Florin Clitan is with the Railways, Roads and Bridges Department, Technical University of Cluj-Napoca, Romania (e-mail: andrei.clitan@cfdp.utcluj.ro).
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Cite: Iulia Clitan, Vlad Muresan, Mihail Abrudean, and Andrei Florin Clitan, "Implementing Discrete Control for the Horizontal Positioning of an Industrial Manipulator Using MATLAB," International Journal of Modeling and Optimization vol. 10, no. 2, pp. 75-78, 2020.
Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited
(CC BY 4.0).
