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

fYear

2007

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICEMI.2007.4350500

Filename

4350500