#  Control Test 

 



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## Test Operation

The video below shows the motion of a pair of McKibben actuators.

## Testing of the Belt Tensioner

The belt tensioner avoids slack of the timing belt. The mechanism works properly.

## PID Control

The team programmed a micro controller for the experiment of PID control to the powered shaft with no load. The PID control is be described below.

SortRpwm

Rate of pwm (0.0～1.0)

y(t)

Difference between target value and sensed value (unit :degree)

kp,ki,kd

PID control parameters





   ![PID control](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/pidcontrol.jpg?itok=h6n8fwDy) 

 

Parameters used this time are:  
kp: 0.027, ki: 0.0013, kd: 0.0013

The following graph shows the result of a tracking test. Although there were some overshoots, angle sensor values tracked the reference signal with good responsiveness.

 ![pid_graph2.png](/sites/g/files/omnuum4601/files/srtdesigncomp/files/pid_graph2.png)