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
| dc.contributor.author | Bitriá, Ricard | |
| dc.contributor.author | Palacín Roca, Jordi | |
| dc.date.accessioned | 2022-12-09T12:59:58Z | |
| dc.date.available | 2022-12-09T12:59:58Z | |
| dc.date.issued | 2022 | |
| dc.description.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. | ca_ES |
| dc.identifier.doi | https://doi.org/10.3390/s22207817 | |
| dc.identifier.idgrec | 032825 | |
| dc.identifier.issn | 1424-8220 | |
| dc.identifier.uri | http://hdl.handle.net/10459.1/84509 | |
| dc.language.iso | eng | ca_ES |
| dc.publisher | MDPI | ca_ES |
| dc.relation.isformatof | Reproducció del document publicat a https://doi.org/10.3390/s22207817 | ca_ES |
| dc.relation.ispartof | Sensors, 2022, vol. 22, núm. 20, 7817 | ca_ES |
| dc.rights | cc-by (c) Ricard Bitriá, Jordi Palacín, 2022 | ca_ES |
| dc.rights.accessRights | info:eu-repo/semantics/openAccess | ca_ES |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
| dc.subject | PID control | ca_ES |
| dc.subject | Brushed DC motor | ca_ES |
| dc.subject | Magnetic encoder | ca_ES |
| dc.subject | Omnidirectional mobile robot | ca_ES |
| dc.title | 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 | ca_ES |
| dc.type | info:eu-repo/semantics/article | ca_ES |
| dc.type.version | info:eu-repo/semantics/publishedVersion | ca_ES |