1. 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

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

3. Mecanum Wheels

4. 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.

5. 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

6. Holobot

7. Arduino and Shields

8. 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

9. PID System

10. 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

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

12. Methodology Torque Calculations Power Calculations
Battery Calculations
Speed Calculations
Transfer Function

13. 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

14. 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

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