https://Everardo-shain.github.io/tags/control-systems/Recent content in Control Systems on Everardo ShainHugo -- gohugo.ioenWed, 11 May 2022 08:06:25 +0600https://Everardo-shain.github.io/posts/projects/upright-cnc-router/Wed, 11 May 2022 08:06:25 +0600https://Everardo-shain.github.io/posts/projects/upright-cnc-router/<h2 id="overview">Overview</h2> <p>This team project included the CAD modeling of a motor driven Upright CNC Router with polar axes, and its control with PD and PID controllers using MATLAB and Simulink. We designed a HMI with a mode selector menu (1 coordinate, circle, rectangle, triangle and 3 coordinates), and plotted each comparison between reference and control signals, plus an additional plot with the error signal. The most complex tasks were the signal generation for each shape by applying horizontal and vertical forces, and an additional conversion to those signals as our robot moved within polar axes. The PD and PID tuning was made by making several trial and error experiments on each mode until the stationary error was almost zero.</p>