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a.
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•Drive Motor
-located at rear of car
-Controls speed
•Steering Motor
- located at front
-controls tracking of
car based on track
sensors
- Utilizes PID controller
•Main Difference
- spring return
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Mobile Robot-Control Systems-Project Report, Study Guides, Projects, Research of Control Systems
This project report was submitted to Dr. Anbu Manghirmalani at Birla Institute of Technology and Science. this project helped students to learn concepts of Control Systems in Electrical Engineering. It includes: Mechatronics, Design, project, Hardware, Drive, Motor, Controls, Speed, Rear, Sensors, Calibrated
Typology: Study Guides, Projects, Research
2011/2012
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CO.
a.
L.
F.
Drive Motor
located at rear of car
Controls speed
Steering Motor
- located at front -
controls tracking of
• car based on track sensors - Utilizes PID controller
Main Difference
- spring return
CO.
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L.
F.
Already Calibrated
2 Front Sensors (follow track)
1 inch apart, best distance
Side Sensor
(stopping)
CO.
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start
Declare
Variables
void main() { int y , i ; float r = 0.0; float e_curr; // current error float check_time; float t_sample = .03; // sample time float u_control; float e_prev = 0.0; float i_prev = 0.0; // PID Values float kp=0.6; float td=0.00; float ti=100000.0; float mvalue; int knob_value;
continued
CO.
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continued
Stop
Button
Set speed^ Pressed?
With knob
no
yes
// reduces sensitivity of knob and set to standard speeds while(!stop_button()) { if(knob()<= 25) knob_value=15; if(knob()>25 && knob()<=50) knob_value=18; if(knob()> 50 && knob()<=75) knob_value=20; if(knob()>75 && knob()<=100) knob_value=23; if(knob()>100 && knob()<=125) knob_value=25; if(knob()> 125 && knob()<=175) knob_value=27; if(knob()>175 && knob()<=225) knob_value=30; if(knob()>225 && knob()<=255) knob_value=32; printf("%d\n",knob_value); msleep(200L); }
CO.
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Stop Button Pressed?
yes
Object
near Side?^ end
yes
no
Check_time= seconds – t_sample * (float)(i) Set u_control^ Set y (error) Set e_curr Motor(1,u_control) Update errors^ and integrals Set integral i ++ -.01< Time <0.01?
yes
no
CO.
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while(!stop_button()) { check_time = seconds()- t_sample(float)(i); if (check_time < 0.01 && check_time > -0.01) { while(analog(5)>8) { float i_curr= i_prev + 0.5 * (e_curr + e_prev)t_sample; u_control = kpe_curr + kptd(e_curr - e_prev)/t_sample + (kp /ti)i_curr; y= analog(4)-analog(2); e_curr=r-(float)(y); //set motor speed to u_control motor(1,(int)(u_control)); e_prev=e_curr; i_prev=i_curr; i++; } ao(); tone(1000.0,0.3);tone(999.0,0.3);tone(850.0,0.3); tone(750.0,0.3);tone(642.0,0.3);tone(510.0,0.3);tone(510.0,0.3); printf("\nClear!"); } } ao(); printf("\nBye!"); beep();beep(); }
CO.
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Initial Kp set to 1.
Varied Kp 1.
Æ
Ti =100,
Td =0.
Varing Kp -100-150 -
0 50 250200150100 0 1000 2000 3000 4000 Time (msec.) Tracking Error (y) kp=1.0kp=0.8kp=0.6kp=0. Use Kp=0.
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Initial Ti set to
Varing Ti
0 80 60 40 20 180160140120100 0 200 400 600 800 1000 Time (msec.) Tracking Error (y) ti=500ti=1000ti=10,000ti=100, Use ti=
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