Chapter 16 Feedback controlof motors, based on Demo2017.c and PIDRobotDemo. c CEG2400-Microcomputer Systems Reference: ww.tic ac uk/micromouse/PRESENTAT/ONS/Heretic. ppt http:/ww.cse.cuhk.edu.hk/khwong/ceg2400/pidrobotdemo093.c CEG2400 Ch16: feed back control v7f
Chapter 16 Feedback control of motors, based on Demo2017.c and PIDRobotDemo.c CEG2400 - Microcomputer Systems CEG2400 Ch16: feedback control V7f 1 Reference : www.tic.ac.uk/micromouse/PRESENTATIONS/Heretic.ppt http://www.cse.cuhk.edu.hk/khwong/ceg2400/PIDRobotDemo093.c
Objectives 1)(a)Study DC motors, (b Servo motors 2)Study stepping Motors 3 Study open-loop and closed-loop control 4)Control methods Proportional feedback control l)Pid proportional-integral-derivative) control CEG2400 Ch16: feed back control v7f
Objectives 1) (a)Study DC motors, (b) Servo motors 2) Study Stepping Motors 3) Study open-loop and closed-loop control 4) Control methods – I) Proportional feedback control – II) PID (proportional-integral-derivative) control CEG2400 Ch16: feedback control V7f 2
1a) Direct Current (DC motors For robots CEG2400 Ch16: feed back control v7f
1a) Direct Current (DC) motors For robots CEG2400 Ch16: feedback control V7f 3
Motors Our robot C motor with speed encoder CEG2400 Ch16: feed back control v7f
Motors • Our robot • DC motor with speed encoder CEG2400 Ch16: feedback control V7f 4
Small direct current d.c motors Speed(~1200-2000rpm) Operates on a 3 5 Volt, Can use gear box e.g. ratio 58: 1) 田宫四驱车配件15351PRO版专用双头马达, to increase torque picture from http://item.taobao.com/item.htm?id=1606576457&tra celog=newcardfavirate Use H-bridge circuit to boost up current from the ttl level to motor driving level CEG2400 Ch16: feed back control v7f
Small Direct Current D.C. motors • Speed (~ 1200-2000 rpm). • Operates on a 3~5Volt, Can use gear box (e.g. ratio 58:1) to increase torque • Use H-bridge circuit to boost up current from the TTL level to motor driving level. CEG2400 Ch16: feedback control V7f 5 田宫四驱车配件15351 PRO版专用双头马达 , picture from http://item.taobao.com/item.htm?id=1606576457&tra celog=newcardfavirate