Controlling differential motor using microcontroller
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Date
2018-06
Authors
Mohammad Azreen Mat Jemin
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Abstract
In robotic system that using motor as a prime mover, speed control is one of the crucial
element in controlling the robot. The control component will provide a steady velocity to the
system and adjust the speed of the robot's movement according to a desirable velocity condition.
The main target in this project is to design a speed controlling system for mobile robot. It is a key
aspect that plays a role in driving robot movements in accordance with the co-ordinated
instructions that are programmed into a robotic system. Some processes need to be pursued in
order to achieve this objective, including designing a speed controller using PID controller based
on some classical methods, analyzing and comparing performance obtained from different
methods and selecting the best classical method and suitable tuning method. The most complex
part in designing the speed controller is to determine the appropriate and stable PID parameters
according to the desired characteristics. Final results can be achieved by analyzing the results
obtained from all the methods used. PID controller for controlling the velocity of brushed DC
motor successfully designed.