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PID Control of a Remote Controlled Car - PowerPoint PPT Presentation


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PID Control of a Remote Controlled Car John J. Noegel Purpose To become familiar with the operation of a handy board and the coding involved in controlling a system. Problem Statement

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Presentation Transcript
purpose
Purpose
  • To become familiar with the operation of a handy board and the coding involved in controlling a system.
problem statement
Problem Statement
  • To use a Handy board to control a remote control vehicle to follow a wall at a specified distance and follow codes by priority
test background
Test Background
  • Remote control vehicle with one motor for turning and one for forward and reverse motion
  • Two IR sensors – One for staying a specified distance from the wall and the other for obstacles
  • Involve priority coding in the program
pid programming
PID Programming
  • Set Point = 228 (desired distance for IR)
  • Kp = 32, Ki = 2, Kd = 0.1,
  • ts = 0.001
  • c_error = set-y; ( y = analog input of IR)
  • power = (Kp*c_error)+Ki*(integral)+de_dt*(Kd);
  • integral = 0.5*(c_error+p_error)*ts;
  • de_dt = (c_error-p_error)/ts;
  • motor(1,(int)power); (turn motor)
conclusions
Conclusions
  • Attempted to tune PID three times unsuccessfully
  • Motor unacceptable to program for true PID control
  • System can be made to operate without constraints of testing, but operation could be much cleaner
recommendations
Recommendations
  • Use a system without a 3 position motor (all on right, all on left, or off)
  • Use a system preferably with position sensitive motor or install an actuator to control position of motor