Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Comparison of PID Controllers by Using Linear and Nonlinear Models for Control of Mobile Robot Driving System

모바일 로봇 구동 시스템 제어를 위한 선형 및 비선형 모델 기반 PID 제어기 성능 비교

  • Jang, Tae Ho (Transactions of Institute for Fusion Technology for Production, Hanbat National University) ;
  • Kim, Youngshik (Department of Mechanical Engineering, Hanbat National University) ;
  • Kim, Hyeontae (Department of Electronics Control Engineering, Hanbat National University)
  • 장태호 (한밭대학교 생산융합기술연구소) ;
  • 김영식 (한밭대학교 기계공학과) ;
  • 김현태 (한밭대학교 전자제어공학과)
  • Received : 2015.04.29
  • Accepted : 2015.12.11
  • Published : 2016.03.01
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Abstract

In this study, we conduct linear and nonlinear modeling of the DC motor driving system of a wheeled mobile robot, which is a nonlinear system involving dead zone, friction, and saturation. The DC motor driving system consists of a DC motor, a wheel, and gears. A linear DC motor driving system is modeled using a steady-state response and parameter measurements. A nonlinear DC motor driving model is identified with the use of the Hammerstein-Wiener method. By using these models, PID controllers for the DC motor system are then established. Each PID controller is applied as a low-level controller in order to achieve posture stabilization control for the real mobile robot. We also compare the performance of the proposed PID controllers in posture stabilization experiments by using several different final robot postures.

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References

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