Publication: Development of can-based cooperative pid system trainer
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Date
2020-08-01
Authors
Tan, Chien Ye
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Abstract
Due to high availability and affordable microcontrollers, several microcontroller have been incorporated into control system to increase functionality of the system. Followed by this trend, solid understanding on networked control system is deemed as a necessity at academic level. Nowadays, tertiary institutes are increasingly looking upon open source teaching technology solution However, cost-effective infrastructure for a complete control system be it either for teaching and research purpose is often plagued by inter-operability of the equipment for future extension as well as capital cost. Hence, a low cost CAN-based cooperative PID control system trainer is developed for academic purpose and evaluate its effectiveness as teaching aid. The CAN-based cooperative PID control system will realize the real-time requirement by synchronizing the motion between two motor after applying cooperative control theory and graph theory. Communication graph between two agents is also well-defined to indicate the information flow and thus providing synchronization. The controller design resembles a PID controller where controller parameter value can be adjusted to observe the effects of different Kp, KI, Kd on controller performance. To facilitate the interface between user and controller, a GUI have been designed to get inputs from user. The commanding signal is the user input from GUI which is then transmitted serially to Arduino to interpret the message. The user is asked to give the parameter for SP,Kp, KI, Kd which is used as parameter to the PID controller. The PID controller will then output the signal to motor driver to turn the motor. The result of different Kp, KI, Kd would be shown on the GUIas graph to show effect of different Kp, KI, Kd . The CAN-based cooperative PID control system is used as teaching material to simulate electronic controls in modern automotive vehicles to provide student insight into how the CAN bus and PID controller work.