ADAPTIVE PROPORTIONAL–INTEGRAL-DIFFERENTIAL REGULATOR IN ROBOTIC SYSTEMS

The purpose of the submitted master's thesis is the implementation of a system for automatic tuning of the PID controller coefficients, which is used in robotic systems. The main task of the work is to determine the factors influencing the stability of the system, which are controlled by the PID controller and to solve the issue of adjusting the coefficients when these factors change. Analysis and construction of a system for automatic adjustment of coefficients. Finding ways to get data from feedback and regulate this data. Creation of a real prototype of a control system based on a microcontroller and implementation of software for the operation of a system capable of autonomously adjusting PID coefficients in real time. In the work, the influence of external and internal factors on the stability of the system was investigated, the necessary feedback was chosen to receive data to the microcontroller, and the software for the operation of the system was created. This work can be used in industry and prototyping for fast and high-quality adjustment of the PID controller coefficients.