CASCADE CONTROL ALGORITHM OF THE ROBOTIC ARM'S SERVOMOTOR

Abstract

In this paper, there have been synthesized the control algorithms in cascade control systems. The control object is the robotic arm which is actuated by a servo motor presented as an automatic cascade control system which is consisting of two loops. The use of multiple loops is justified by the fact that with a single loop, only one parameter of the servo motor is controlled, which leads to a decrease in the reliability of the automatic system. A case study was carried out for a direct current electric motor, where proportional (P), proportional-integral (PI), and proportional-integral-derivative (PID) control algorithms were used, with P and PI applied to the inner loop, and P, PI, and PID to the outer loop. The system was simulated with the synthesized algorithms and the results were analyzed, it was established that the system has robustness and high performance for the case of using maximum stability degree method with iterations.