4/20/2023 0 Comments Servo motor arduino labview![]() The system consists of a motor attached with a beam at the center and a ball, which is placed on the top of beam. The robot's direction can be monitored and be maintained at the planned trajectory.īall and beam system is found in most laboratories of control systems engineering due to its simplicity and easiness in construction and control theoretically. The robot heading effective error value on all trajectories is 0.6%. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The odometry was used to obtain the robot's position and orientation, creating the global map. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. ![]() The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The state-space model was derived from the self-balancing robot's mathematical equation. Mathematical equations were required to obtain a model of the robot's characteristics. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances this is known as disturbance rejection control. The proposed robot design has some control problems it requires steady body positioning and is subjected to disturbance. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Finally, the results showed that the designed controller had good performance characteristics where the desired position of the motor was maintained.ĬOVID-19 is a very dangerous respiratory disease that can spread quickly through the air. The system under these controller parameters has been tested at different positions of tracking signal and for disturbance rejection. The PID controller gains were obtained based on trial and error method. In addition, LabVIEW software was developed to show the output response of motor position versus time to easily observe the performance of the system. The PID controller was implemented in LabVIEW software which sends the control signal to the real time DC motor through the Arduino board. The PID controls the position of the DC motor at the desired position with a minimum error. A closed loop real-time control system with an added 298 encoder coupled to the motor shaft is used in this control system to provide feedback position signals to the Proportional Integral Derivative (PID) controller. The functional application of DC motor is focused on this research by using LabVIEW for position control system. These motors should be well controlled to perform the required task. ![]() Direct current (DC) motors are the most used motors in control engineering application due to their simplicity of construction, easy to control and excellent performance.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |