Optimal PID Control of a Brushed DC Motor with an Embedded Low-Cost Magnetic Quadrature Encoder for Improved Step Overshoot and Undershoot Responses in a Mobile Robot Application
The development of a proportional–integral–derivative (PID) control system is a simple, practical, highly effective method used to control the angular rotational velocity of electric motors. This paper describes the optimization of the PID control of a brushed DC motor (BDCM) with an embedded low-co...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/22/20/7817 |
| Summary: | The development of a proportional–integral–derivative (PID) control system is a simple, practical, highly effective method used to control the angular rotational velocity of electric motors. This paper describes the optimization of the PID control of a brushed DC motor (BDCM) with an embedded low-cost magnetic quadrature encoder. This paper demonstrates empirically that the feedback provided by low-cost magnetic encoders produces some inaccuracies and control artifacts that are not usually considered in simulations, proposing a practical optimization approach in order to improve the step overshoot and undershoot controller response. This optimization approach is responsible for the motion performances of a human-sized omnidirectional mobile robot using three motorized omnidirectional wheels. |
|---|---|
| ISSN: | 1424-8220 |