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
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2022
Authors
Bitriá, Ricard
Palacín Roca, Jordi
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Abstract
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.
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Sensors, 2022, vol. 22, núm. 20, 7817