التفاصيل البيبلوغرافية
| العنوان: |
Optimal PID Control of a Brushed DC Motor with an Embedded Low-Cost Magnetic Quadrature Encoder for Improved Step Overshoot and Undershoot Responses in a Mobile Robot Application |
| المؤلفون: |
Ricard Bitriá, Jordi Palacín |
| المصدر: |
Sensors, Vol 22, Iss 20, p 7817 (2022) |
| بيانات النشر: |
MDPI AG, 2022. |
| سنة النشر: |
2022 |
| المجموعة: |
LCC:Chemical technology |
| مصطلحات موضوعية: |
PID control, brushed DC motor, magnetic encoder, omnidirectional mobile robot, Chemical technology, TP1-1185 |
| الوصف: |
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. |
| نوع الوثيقة: |
article |
| وصف الملف: |
electronic resource |
| اللغة: |
English |
| تدمد: |
1424-8220 |
| Relation: |
https://www.mdpi.com/1424-8220/22/20/7817; https://doaj.org/toc/1424-8220 |
| DOI: |
10.3390/s22207817 |
| URL الوصول: |
https://doaj.org/article/c4b77178e27248388292af83167c6d67 |
| رقم الانضمام: |
edsdoj.4b77178e27248388292af83167c6d67 |
| قاعدة البيانات: |
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