文章基本信息

标题：REDUCED SISO POSITION MODEL AND PD CONTROL OVER FPGA FOR A DIFFERENTIAL ROBOT PLATFORM THAT USES A TWIN ULTRASONIC SENSORS SYSTEM
本地全文：下载
作者：EDWAR JACINTO GOMEZ ; FREDY HERNAN MARTINEZ ; FERNANDO MARTINEZ SANTA 等
期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2019
卷号：97
期号：24
页码：3671-3681
出版社：Journal of Theoretical and Applied
摘要：This paper shows the design, calculus and implementation of a digital PD (proportional derivative) position control for a differential two-wheeled robot commanded by means of a FPGA (Field Programmable Gate Array). It started with the design of the digital driver for the ultrasonic sensors (located in both sides of the robot) which gets the differential distance between walls or any other obstacle; this is followed by the modeling of the robot taking it into account as a dynamic plant and giving to both sensors and both motors the treatment of only one sensor and only one motor, which reduces the model to a simple SISO system. After that, this shows the design and optimization of the controller using the root location approach, then the digital controller is obtained by means of applying a discretization method over the designed controller. After, the design of the digital controller is implemented on a FPGA device using VHDL as hardware description language. Next, some simulations of the system response in open loop and along with the digital control are shown, as well as the block diagram of the whole digital control and the code of the PD controller are shown. Finally, this shows how the generated controller improves the behavior of the position of the robot for most of the testing cases.
关键词：PD Controller; Differential Robot Platform; Digital Position Control; FPGA; Ultrasonic Differential Sensor