Pid Regulyator Na Arduino

Introduction In a vehicle using independent wheel control, applying the same power to each wheel generally does not result in the vehicle moving straight. This is caused by mechanical and surface differences experienced by each of the wheels. To reduce deviation in the vehicle heading, a better approach is to use a closed-loop controller which adjusts the power applied to two motors based on the difference in their rates of rotation. One such controller is a well-known proportional-integral-derivative (PID) controller. PID control is a basic control loop feedback mechanism.

The controller minimizes the difference between the measured and the desired value of a chosen system variable by adjusting the system control inputs. This example shows you how to simulate the controller using a simple plant model, first with no feedback control (Open-Loop Control), and then with feedback control (Closed-Loop Control). This example also illustrates how to switch between simulating the PID controller and running it on hardware in the same model. Task 1 – Build the Vehicle 1. Assemble the mobile platform. Attach the two DC motors with encoders to the front wheels. Percy jackson and the lightning thief script pdf the best free software for your. Attach the other two DC motors to the rear wheels.

If your platform has only two DC motors, let the rear wheels rotate freely. Assemble the battery pack and attach it to the mobile platform using suitable fasteners.

Connect the positive end of the battery pack to the switch using the breadboard wires. Note: If you are using DFRobot 4WD Arduino-Compatible Platform w/Encoders kit, follow the vendor’s instructions. Task 2 – Build the Motor Controller The Arduino Mega 2560 board alone cannot provide high enough current to power DC motors. For that purpose, you will build the motor controller based on the Texas Instruments SN754410 quadruple high-current half-H driver. Assemble the motor controller using the following circuit diagram.

PID Control with Arduino. Students will gain an intuitive insight into how a PID controller works and how to implement it on the Arduino Platform! Use the PID algorithm for their Arduino or microcontroller-based projects such as quad-copters, self balancing robots, temperature control, motor speed control, and much more!

Connect the controller to the vehicle battery pack following the same circuit diagram. Task 3 – Simulate Open-Loop Control Model This step illustrates that independently powered wheels cause deviations in vehicle heading. Open the model that comes with the Support Package called arduinomega2560_drive_openloop.slx. Observe two subsystems in the model. Open the Open-Loop Controller subsystem. This subsystem controls the vehicle driving.