Ristiana, Rina and Mardiati, Rina and Kusumandari, Dwi Esti and Simbolon, Artha Ivonita and Amri, M Faizal and Wibowo, Jony Winaryo (2022) Position control of a DC Servo multi-motor for Lower-Limb Exoskeletons. In: 2022 8th International Conference on Wireless and Telematics (ICWT).
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Abstract
The angular position control of DC servo multimotor using PID control has been proposed. The PID controller tuning is applied to the Ziegler-Nichols (ZN) method. The angular position control of the DC motor is built in the mixed (cascade) system consisting of six electric motors to drive the joint movement of the lower-limb exoskeleton (hip, knees, and ankle). The PID control design is implemented in the lower-limb exoskeleton and experimental setup and simulation are carried out to obtain proper proportional, integral, and derivative gains. Based on these gains, the PID controller gives a good response, without overshoot, fixed settling time, and is precise to get the desired angle.
| Item Type: | Conference or Workshop Item (Paper) |
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| Uncontrolled Keywords: | Position Control; DC Servo Motor; PID Controller; the Ziegler-Nichols Method; Lower-limb Exoskeleton |
| Subjects: | Electricity > Electrodinamics, Electric Current |
| Divisions: | Fakultas Sains dan Teknologi > Program Studi Teknik Elektro |
| Depositing User: | Rina Mardiati |
| Date Deposited: | 23 May 2023 05:58 |
| Last Modified: | 23 May 2023 05:58 |
| URI: | https://digilib.uinsgd.ac.id/id/eprint/67486 |
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