Design of a DC motor drive PID Controller for a mobile robot - Embedded.com

Design of a DC motor drive PID Controller for a mobile robot

In agriculture industry, plants are prone to diseases caused by pathogens and environment conditions and it is a prime cause of lost revenue. It requires continuous monitoring of plants and environment parameters to overcome this problem.

Mobile robots can be an effective tool to reduce the production cost and manpower in agriculture and can be sed for smart inspection of agriculture field. Also several soil and atmospheric parameters can be monitored wirelessly with the help of mobile robots. But the mobile robot driving system for such applications requires high level of quickness, precision and accurate feedback mechanism for speed and position control.

This paper describes a discrete PID control mechanism for agriculture mobile robot. Here high speed ,high precision DC motor control system has been designed in MATLAB and implemented on ARM 9 based microcontroller and using the Linux OS.

The robotic platform consists of ARM9 based S3C2440 processor from Samsung and Linux Kernel controlling the motor driver, robot mechanical assembly. The farm environment and plant condition such as temperature, humidity soil moisture content etc. are continuously monitored through suitable data acquisition system incorporated in the robotic system.

A servo motor based robotic arm is designed for collecting soil sample and test various soil parameters. A closed loop feedback algorithm based on Digital PID controller has been developed for precise position and speed control of mobile robot.

The wireless control of mobile robot and monitored data acquisition is accomplished using Zigbee wireless protocol. For displaying acquired data on host system a Graphical User Interface was designed using the QT Creator framework.

For independent functioning of mobile robot, application program is written in the C language and cross compiled using the ARM-Linux GCC compiler on the Ubuntu 10.04 platform and ported on the memory of ARM processor.

To read this external content in full, download the complete paper from the author archive online at PG Embedded Systems.

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