Cole Perrault Spring 2015 ET 493 Wesley Deneke Development of PID controller for Autonomous Mecanum Wheel Robot (Holobot) Cole Perrault Spring 2015 ET 493 Wesley Deneke

Mecanum Wheel Pros Cons Maneuverability 70% Push Force Full Traction Reliability Friction Power Terrain Inclines Weight Sliding

Mecanum Wheels

Proportional-Integral-Differential Proportional – Product of gain and measured error. Reduces large part of overall error Integral – Summing error over time to drive the system to smaller error. Reduces final error in a system Derivative – Counteracts the Kp and Ki terms when output changes quickly.

Holobot Autonomous System PID System Calculations Implementing Analysis Tuning Conclusion Microcontroller Motor Shield DC Motor with Encoders Mecanum Wheels Distance Sensor 7.2V Battery 3A

Holobot

Arduino and Shields

DC Motor Gear Ratio: 74.83:1 6V Free-Run 130rpm 6V Free-Run Current 450mA 6V Stall Current 6000mA 6V Stall Torque 130 oz*in 48 CPR gives 3592 Counts per Revolution

PID System

Motivation Implement PID system for personal development – learn something Have a platform to be used by future students – teach others Implement small research and development for the stability in systems – perform research Contribution to the school for future interests – school merit

Accomplishments Peripherals Research Design Analysis DC Motor Research Voltage Regulation Power Consumption Torque and Speed Calculations Transfer Function Equations

Methodology Torque Calculations Power Calculations Battery Calculations Speed Calculations Transfer Function

Future Goals Building the Holobot Coding the Holobot Torque/Speed Analysis Coding the Holobot Movement States Testing the Holobot Incline Terrain Implementation of PID Testing of PID Overshoot Analysis Desired Output

Deliverables Build Holobot……………..……………………………………….May 6 Mathematical Methods Sheet………………..…….………….May 30 Test each Peripheral…………….………………………………April 2 Code………………………………………….……...…………….April 2 Test Holobot………………………………..…..……….Summer 2015 Implementation of PI………………………………..............Fall 2015 Testing of PID…………………………………………….……Fall 2015

Cole Perrault Spring 2015 ET 493 Wesley Deneke Holobot Cole Perrault Spring 2015 ET 493 Wesley Deneke