Abstract
The development of a proportional–integral–derivative (PID) control system is a simple, practical, highly effective method used to control the angular rotational velocity of electric motors. This paper describes the optimization of the PID control of a brushed DC motor (BDCM) with an embedded low-cost magnetic quadrature encoder. This paper demonstrates empirically that the feedback provided by low-cost magnetic encoders produces some inaccuracies and control artifacts that are not usually considered in simulations, proposing a practical optimization approach in order to improve the step overshoot and undershoot controller response. This optimization approach is responsible for the motion performances of a human-sized omnidirectional mobile robot using three motorized omnidirectional wheels.
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Reference66 articles.
1. Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
2. Handbook of Small Electric Motors;Yeadon,2001
3. Electrical Engineer’s Reference Book;Laughton,2003
4. Dc Motors, Speed Controls, Servo Systems: An Engineering Handbook;Zhou,2013
5. Low-Cost Servomotor Driver for PFM Control
Cited by
9 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献