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  • P Process:) (Output Setpoint +

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    saifizi
    16 views14 pages
    The document describes a control system for a caster wheel robot. A vision system and servo controller are used to track a target and control the wheel's position and velocity. The control system uses a PID controller to minimize the error between the setpoint and actual positions based on sensor feedback, with proportional, integral and derivative terms. Graphs show the robot's ability to track targets at different speeds and positions over a range of 20-100 cm.

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    Presentation1

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    The document describes a control system for a caster wheel robot. A vision system and servo controller are used to track a target and control the wheel's position and velocity. The control system uses a PID controller to minimize the error between the setpoint and actual positions based on sensor feedback, with proportional, integral and derivative terms. Graphs show the robot's ability to track targets at different speeds and positions over a range of 20-100 cm.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pptx, pdf, or txt
    16 views14 pages

    P Process:) (Output Setpoint +

    Uploaded by

    saifizi
    The document describes a control system for a caster wheel robot. A vision system and servo controller are used to track a target and control the wheel's position and velocity. The control system uses a PID controller to minimize the error between the setpoint and actual positions based on sensor feedback, with proportional, integral and derivative terms. Graphs show the robot's ability to track targets at different speeds and positions over a range of 20-100 cm.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pptx, pdf, or txt
    of 14

    P Kce(t)

    +
     
    t
    Process Output
    Setpoint K I  e(t )dt
    I 0

    -
    de(t)
    D Kd
    dt Sensor
    Y
    xr
    Caster Wheel

    yr

    2d
    2r

    x X
    40 CM

    VISION SYSTEM
    49.5 CM
    SERVO
    CONTROLLER
    Wheel width 3.0 CM

    LAPTOP

    6.5 CM
    DAQ USB-6212
    20

    40
    60

    80
    100
    1, 20

    1, 40
    1, 60
    1,80

    1,100
    10, 20

    10, 40
    20, 20

    20, 40
    30, 20

    30, 40
    0.9, 20

    0.9, 40

    0.9, 40
    1.2, 40

    1.2, 20

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