Title :
DC Servo Controlled System Design on Bomb-Disposal Robot Algorithm
Author :
Hongfu, Zhou ; Xinyan, Xiao ; Liangzhong, Jiang
Author_Institution :
South China Univ. of Technol., Guangzhou
Abstract :
The research on DC servomotor control system for bomb-disposal robot is proposed in the paper, which is based on PID control and PWM output for the DC motor drive. The research designed PID control for 8 DC servomotors drive in the bomb-disposal robot, and the optimize PID parameters are determined by experiment. In the design the DC servomotor control system is an embedded system, where the encoder signals input and PWM output are processed by the PC 104 embedded system. The PID control model and the PWM generator model is simulated by MatLab Simulink in the research.
Keywords :
DC motors; embedded systems; mobile robots; servomotors; three-term control; DC motor drive; DC servo controlled system design; DC servomotor control system; MatLab Simulink; PC 104 embedded system; PID control; PWM generator model; PWM output; bomb-disposal robot algorithm; encoder signals; Control systems; DC motors; Design optimization; Embedded system; Mathematical model; Pulse width modulation; Robots; Servomechanisms; Servomotors; Three-term control; Bomb-disposal robot; DC servomotor; Embedded system; PID control; PWM control;
Conference_Titel :
Electronic Measurement and Instruments, 2007. ICEMI '07. 8th International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-1136-8
Electronic_ISBN :
978-1-4244-1136-8
DOI :
10.1109/ICEMI.2007.4350500
