Speed Control Using a PID Algorithm for an Educational Mobile Robot
In this paper, we propose a new mothod using the PID controller gain value from rotatation of wheels according to rotation momentum characteristics for an educational mobile robot. P-Gain, I-gain and D-gain have been changed from the mobile robot via wireless remote control in a real-time basis. The transmitted gain value is calculated by real-time operation of embedded software in the robot. Experiments are carried out to find the optimized gain value of two conditions, maximum speed and minimum speed. The gain of intermediate velocity region is calculated from this gain value using primary curve fitting. The intermediate region gain value is calculated by real-time transmission of the mobile robot. Successful results are demonstrated with PID control using the calculated intermediate region gain value.
KeywordsPID control Variable PID gain tuning Educational mobile robot
This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (MEST) (2011-0013776). This work was also supported by the Prevention of Disaster with Information Technology Center of Mokwon University through the Regional Innovation Center Program (RIC) funded by SMBA of Republic of Korea.
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