Implementation of PID Control Algorithm with Variable Setpoint on Arduino Board to Control the Polishing Force

In the polishing process, one of the factors affecting material removal is the contact force between the tool and the workpiece. The contact force parameter is important in the sense that in this process, the amount of this force is lower than other machining processes, as a result, the force contact is one of the important issues to be controlled. In this research, a force control system based on the implementation of proportional-integral-derivative (PID) control algorithm with regulatory strategy in Arduino board is presented. It is possible to apply command signals to the actuator by the Pulse Width Modulation (PWM) unit of the Arduino board. The polishing setup in this research includes solenoid, dynamometer, direct current (DC) motor and belt sander. PID control coefficients were estimated by system identification method and using MATLAB software tools. The results show that the control system designed on the Arduino board provides the desired stability to control the polishing force with an acceptable error. Among other advantages of the developed system, the need for additional equipment is reduced compared to other commercial systems and it is more economical.