CONTROL OF MOBILE ROBOT

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Presentation transcript:

CONTROL OF MOBILE ROBOT AN-NAJAH NATIONAL UNIVERSITY FACULTY OF ENGINEERING DEPARTMENT OF MECHATRONICS ENGINEERING CONTROL OF MOBILE ROBOT Prepared By: Manar Mohammad Sa’id Deema Abd-Rahman Odeh Rola "Mohammad Eid" Sabbah Supervisor: Dr. Bashir Nouri

Outlines Introduction System Structure Modeling of Mobile Robot Programming and Testing Control of DC Motor Fuzzy Controller Conclusion

System Structure Component DC motor Wheels Sensor :Ultrasonic Sensors Measurement devices

Modeling of Mobile Robot Modeling of Mobile Robot A description of a system using mathematical concepts .

Mobile robots Instantaneous Center of Rotation (ICR)

Control of DC Motor The air gap flux (φ) is proportional to the field current (if) as follows: Case 1: Field current controlled DC motor Case 2: Armature controlled DC motor

DC Motor Speed P-Controller Step response with P controller

PID Controller This transfer function writes in S-domain as: The equation for the output in the time domain is :

PID Controller PID controller with large KI and large KD Kp=100 Ki=200

Root Locus Controller Design Closed-loop transfer function

Bode diagram for transfer function related with velocity and angle 11 Bode diagram for transfer function related with velocity and angle

Root Locus Controller Design Closed-loop transfer function –PID Controller

Testing and Programming

Testing and Programming

Testing and Programming

Test and Programming

Fuzzy Controller

Mobile Robot avoiding obstacle and reach to the goal

Thank you for your attention Any questions?

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