{"title":"机械车轮速度控制,以PID控制器为目标定位和方向","authors":"Faisal Wahab, Clement Zaskie, B. Arthaya","doi":"10.31544/jtera.v6.i2.2021.273-284","DOIUrl":null,"url":null,"abstract":"A robot that uses omni-wheel drive has the ability to move in all directions without having to change the orientation of the robot itself. This ability can be proven if the speed of each motor can be controlled and an algorithm is applied so that the omni-wheeled robot can move to the desired position and orientation. In this paper, an omni wheeled robot speed control will be presented with the ability to go to the desired position and orientation using a Proportional Integral Derivative (PID) controller. The research stage starts from determining the kinematics of the robot used, designing electrical and mechanical systems, designing DC motor control, and determining the system block diagram. The PID parameters used for motor control are Kp = 0.48, Ki = 11.16, and Kd = 0 which are obtained from the results of the PID tuner and to move the robot to the desired position and orientation using Model Predictive Control (MPC). The results of the simulation test show that the omni-wheeled robot can move according to the position and orientation of five set-points based on the kinematics that has been designed. Experimental test results based on encoder reading data show that the omni-wheeled robot has succeeded in getting to the desired position and orientation. However, visually there is an error of 9.6% of the total set-point caused by field technical factors.","PeriodicalId":17680,"journal":{"name":"JTERA (Jurnal Teknologi Rekayasa)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Kendali Kecepatan Robot Beroda Omni dengan Kemampuan Menuju Posisi dan Orientasi yang Diinginkan Berbasis Pengendali PID\",\"authors\":\"Faisal Wahab, Clement Zaskie, B. Arthaya\",\"doi\":\"10.31544/jtera.v6.i2.2021.273-284\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A robot that uses omni-wheel drive has the ability to move in all directions without having to change the orientation of the robot itself. This ability can be proven if the speed of each motor can be controlled and an algorithm is applied so that the omni-wheeled robot can move to the desired position and orientation. In this paper, an omni wheeled robot speed control will be presented with the ability to go to the desired position and orientation using a Proportional Integral Derivative (PID) controller. The research stage starts from determining the kinematics of the robot used, designing electrical and mechanical systems, designing DC motor control, and determining the system block diagram. The PID parameters used for motor control are Kp = 0.48, Ki = 11.16, and Kd = 0 which are obtained from the results of the PID tuner and to move the robot to the desired position and orientation using Model Predictive Control (MPC). The results of the simulation test show that the omni-wheeled robot can move according to the position and orientation of five set-points based on the kinematics that has been designed. Experimental test results based on encoder reading data show that the omni-wheeled robot has succeeded in getting to the desired position and orientation. However, visually there is an error of 9.6% of the total set-point caused by field technical factors.\",\"PeriodicalId\":17680,\"journal\":{\"name\":\"JTERA (Jurnal Teknologi Rekayasa)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-12-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"JTERA (Jurnal Teknologi Rekayasa)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.31544/jtera.v6.i2.2021.273-284\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"JTERA (Jurnal Teknologi Rekayasa)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.31544/jtera.v6.i2.2021.273-284","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
摘要
使用全轮驱动的机器人能够在不改变机器人自身方向的情况下向各个方向移动。如果可以控制每个电机的速度,并应用算法使全轮式机器人能够移动到所需的位置和方向,则可以证明这种能力。在本文中,将提出一种全轮式机器人的速度控制,并使用比例积分导数(PID)控制器来达到期望的位置和方向。研究阶段从确定所用机器人的运动学,设计机电系统,设计直流电机控制,确定系统框图开始。用于电机控制的PID参数Kp = 0.48, Ki = 11.16, Kd = 0,这些参数是从PID调谐器的结果中获得的,并使用模型预测控制(MPC)将机器人移动到所需的位置和方向。仿真试验结果表明,基于所设计的运动学,全轮式机器人可以根据五个设定点的位置和方向进行运动。基于编码器读取数据的实验测试结果表明,全轮式机器人成功地达到了期望的位置和方向。然而,由于现场技术因素,目测误差为总设定值的9.6%。
Kendali Kecepatan Robot Beroda Omni dengan Kemampuan Menuju Posisi dan Orientasi yang Diinginkan Berbasis Pengendali PID
A robot that uses omni-wheel drive has the ability to move in all directions without having to change the orientation of the robot itself. This ability can be proven if the speed of each motor can be controlled and an algorithm is applied so that the omni-wheeled robot can move to the desired position and orientation. In this paper, an omni wheeled robot speed control will be presented with the ability to go to the desired position and orientation using a Proportional Integral Derivative (PID) controller. The research stage starts from determining the kinematics of the robot used, designing electrical and mechanical systems, designing DC motor control, and determining the system block diagram. The PID parameters used for motor control are Kp = 0.48, Ki = 11.16, and Kd = 0 which are obtained from the results of the PID tuner and to move the robot to the desired position and orientation using Model Predictive Control (MPC). The results of the simulation test show that the omni-wheeled robot can move according to the position and orientation of five set-points based on the kinematics that has been designed. Experimental test results based on encoder reading data show that the omni-wheeled robot has succeeded in getting to the desired position and orientation. However, visually there is an error of 9.6% of the total set-point caused by field technical factors.