Modelling and Control of DC Motor Speed and Position for Wheel Mobile Robot Application

DOI

10.2991/aer.k.211129.018How to use a DOI?

Keywords

wheel mobile robot application; PID speed controller; two-wheel mobile robot

Abstract

This paper presents the simulation works of PID based speed and position controllers for the DC motor used in mobile robot applications. The mathematical model of the DC motor modelling is developed using Matlab System Identification Toolbox based on its input and output signals obtained during open loop experiments under full load condition. The PID controllers are proposed to regulate the speed of the motor for the maximum of 100rpm. The initial PID parameters are obtained using relay feedback experiment method and Ziegler-Nichols formula. These parameters are then further fine tuned based on practical knowledge in tuning PID. The best PID speed controller is then selected and used in designing the DC motor position controller which utilizes both speed and position feed backs. The simulation results show that both speed and position controllers have a very good performance.

Copyright

© 2021 The Authors. Published by Atlantis Press International B.V.

Open Access

This is an open access article under the CC BY-NC license.

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TY  - CONF
AU  - B. Supriyo
AU  - A. Suharjono
AU  - K. W. Atmaja
PY  - 2021
DA  - 2021/11/30
TI  - Modelling and Control of DC Motor Speed and Position for Wheel Mobile Robot Application
BT  - Proceedings of the International Conference on Innovation in Science and Technology (ICIST 2020)
PB  - Atlantis Press
SP  - 80
EP  - 84
SN  - 2352-5401
UR  - https://doi.org/10.2991/aer.k.211129.018
DO  - 10.2991/aer.k.211129.018
ID  - Supriyo2021
ER  -