Mechatronics Design of A Mobile Robot System
Mechatronics Design of A Mobile Robot System
Mechatronics Design of A Mobile Robot System
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Ayman A. Aly
Taif University
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Ayman A. Aly
Mechatronics Sec. Dept. of Mechanical Engineering, Faculty of Engineering,AssiutUniversity, 71516, Assiut,Egypt
Currently: Mechatronics Sec. Dept. of Mechanical Engineering, Faculty of Engineering, Taif University, 888, Taif,
Saudi Arabia
Email: [email protected]
Farhan A. Salem
Mechatronics Sec. Dept. of Mechanical Engineering, Faculty of Engineering, TaifUniversity, 888, Taif, Saudi Arabia
Alpha Center for Engineering Studies and Technology Researches, Amman, Jordan
Email: [email protected]
Abstract—Mobile robot motion control is simplified to Makka), two views of proposed wheelchair are shown
a DC motor motion control that may include gear in Fig.1. Such mobile Robot can be designed and built
system. The simplest and widespread approach to using the following components; two in-line with each
control the mobile robot motion is the differential drive other DC motors, a PIC microcontroller embedded on
style, it consists of two in-lines with each a DC motor. the robot and capable of controlling two drive channels,
Both DC motors are independently powered so the two H-bridge control circuits, 8 pairs of LED/
desired movements will rely on how these two DC phototransistor and range detection sensors, where PIC
motors are commanded. Thedevelop design, model and microcontroller takes an input signals from sensors and
control of Mechatronics mobile robotic system is controls the motion of robot. Usually, mobile platforms
presented in this paper. The developed robotic system is are supported by two driving rear wheels; and with
intended for research purposes as well as for stability augmented by one or two front caster
educational process. The model of proposed mobile wheel(s)[2]. The two rear wheels are responsible of
robot was created and verified using MATLAB- moving the robot, and used to turn the robot in any
Simulink software. required direction depending on the difference of speed
of wheels’ rotation between the right and left wheels.
I. Introduction
The mobile robot system takes input voltage as
actuator input, and outputs the rotational speed of the
Electronic circuit Sensors array Ultrasonic sensor
two wheels, the actuator most used for mobile robot is
DC motor, because their torque-speed characteristics Fig. 1: (a) Mobile robot, side view
are achievable with different electrical configurations
and their speeds can be smoothly controlled and in most
cases are reversible. DC Motor control system design DC Motor Sensor array
and its features can be analyzed by MATLAB software.
Electronic
Using a simple controller of PIC microcontroller, the circuits
rotation of PM motors or the Motion of Robot can be
controlled easily [1]. Path to follow
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
24 Mechatronics Design of a Mobile Robot System
Plant, (Robot)
Power supply
DC motor
tac
Fig. 2: (a) A simple model of half of the robot
m m
ELECTRIC component of PMDC motor system MECHANICAL component of PMDC motor system
Electromechanical PMDC motor system
Fig. 2: (b) Schematic of a simplified equivalent representation of the PMDC motor's electromechanical components
Applying a voltage to motor coils, produces a torque Based on the Newton’s law combined with the
in the armature. The torque developed by the Kirchoff’s law, the differential equations describing
motor ,Tm ,is related to the armature current, ia , by a electric characteristics of PMDC motor can be derived;
torque constant Kt, and given by the following equation: Applying Kirchoff’s law around the electrical loop by
summing voltages throughout the R-L circuit gives:
Motor Torque = Tm= Kt* ia (1)
The back electromotive force, EMF voltage, ea is ∑V = Vin —VR —VL — EMF =0 (3)
induced by the rotation of the armature windings in the
Applying Ohm's law, substituting, rearranging and
fixed magnetic. The EMF is related to the motor shaft
taking Laplace transform, we get equation that
angularspeed, ωm, by a linear relation given by:
describes theelectrical characteristics of DC motor:
d m (t )
e a (t ) K b K b m
dt (2)
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
Mechatronics Design of a Mobile Robot System 25
di (t ) d (t ) d 2 d
V in R a i a (t ) La a K b K t * i T Load J m 2 bm 0
dt dt dt dt
(Las +Ra) I(s) = Vin(s) - Kbsθ(s) (4) Taking Laplace transform and rearranging, gives:
The torque, developed by motor, produces an angular Kt*I(s) - Jm *s2θ(s)– bm*s θ(s) = 0
velocity, ω= dθ/dt, according to the inertia J and
damping friction, b, of the motor and load. Performing KtI (s)= (Jm s + bm) s θ(s) (5)
the energy balance on the DC motor system; the sum of The electrical and mechanical PMDC motor two
the torques must equal zero, we have: components are coupled to each other through an
∑T = J *α = J*d2θ/dt2 algebraic torque equation given by (1). To derive the
PMDC motor transfer function, we need to rearrange (4)
Te– Tα – Tω- TEMF = 0 describing electrical characteristics of PMDC, such that
Substituting the following values: Te =Kt*ia , Tα = we have only I(s) on the right side, then substitute this
Jm*d2θ/dt2 , and Tω= bm*dθ/dt , in open loop PMDC value of I(s) in (5) describing PMDC mechanical
motor system without load attached, where the change characteristics, this gives:
in Tmotor is zero gives:
1
V in (s ) K b (s ) J m s (s ) b m s (s )
2
Kt
La s R a (6)
Rearranging (6), we obtain the PMDC motor open the input voltage, Vin(s), to the angular velocity, ω(s),
loop transfer function without any load attached relating given by:
(s ) Kt
G speed (s )
V in (s ) L s R
a a J m s b m K t K b
(s ) Kt
G speed (s )
V in (s ) (La J m )s (R a J m b m La )s (R ab m K t K b )
2
(7)
The total equivalent inertia, Jequiv and total equivalent The equivalent mobile robot system transfer function
damping, bequiv at the armature of the motor are given by: will be given by:
2
N1
bequiv b m b Load
N2
2
N1
J equiv J m J Load
N2 (8)
robot (s ) Kt / n
G speed (s )
V in (s ) (La J equiv )s (R a J equiv
2
bequiv La )s (R abequiv K t K b )
(9)
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
26 Mechatronics Design of a Mobile Robot System
considered to be of the below shape, with the inertia wheel radius r =0.075 m, wheelchair height,h= 0.920
calculated as shown below, where: m, wheelchair width,b = 0.580 m, the distance between
wheels centers = 0.4 m, The total equivalent inertia,
bh 3 Jequivand total equivalent damping, bequivat the armature
J load of the motor are ,Jequiv =0.275 kg.m2 , bequiv = 0.392
12
N.m.s. The most suitable linear output speed of
The following nominal values for the various suggested mobile robot is to move with 0.5 meter per
parameters of a PMDC motor used : Vin=12 v; Motor second, (that is ω=V/r = 0.5/ 0.075 = 6.667 rad/s.
torque constant, Kt = 1.188 Nm/A; Armature Resistance, Tachometerconstant, Ktac = 12 / 6.667=1.8 rad/s.
Ra = 0.156Ω ; Armature Inductance, La = 0.82
MH ;Geared-Motor Inertia: Jm = 0.271 kg.m2, Geared- Substituting values, we obtain the overall mobile
Motor Viscous damping bm = 0.271 N.m.s; Motor robot open loop system transfer function, relating input
back EMF constant, Kb = 1.185 rad/s/V, gear ratio, n=3, voltage Vin and robot output angular speed ωrobot, to be:
robot (s ) 0.3961
G speed (s )
V in (s ) 0.2256s 0.3645s 1.469
2
(10)
x1
d
x2 (13)
dt
Running the Simulink model of the open loop mobile
x 3 ia robot system(see Fig 6(a)), will result in speed/time,
linear speed/time, torque/time, and current/time
response curves shown in Fig. 4(a),root locus and bode
plot are shown Fig. 4(b), as will as running the next m-
code:
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
Mechatronics Design of a Mobile Robot System 27
Robot S R L
Nm
4
rTurning 2
Robot R L 2 R L
2
2
0
0 5 10
0
0 5 10
S (16)
Time (seconds) Time (seconds)
Current/time Linear speed/time Based on these equations, the extracted from [3]
8 0.4
Simulink model is modified to be used to demonstrate
6 0.3 differential style (see Fig.7), plot robot DC motors
speeds, the position of the robot in function of its angle
Amp
M/s
4 0.2
through time, plotting and tracking the central point of
2 0.1
the robot, we can feed any function as an input and
0
0 5 10
0
0 5 10
observe robot motion. Defining PMDC parameters and
Time (seconds) Time (seconds) applying the same inputs to both motors in this model
Fig. 4: (a) open loop mobile robot system; speed/time, torque/time, will result in straight line motion; applying different
speed/time and current/time response curves for 12 V input inputs will result in corresponding trajectory (Fig. 5(a),
(b), (c)).
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
10 0
-10
8
-20
6 -30
-40
4
-50
2 -60
G.M.: Inf
-70 Freq: Inf
0 Stable loop
-80
0
-2
-45
-4
-90
-6
-135
-8 (a)
P.M.: Inf
Freq: NaN
-10 -180
-0.8 -0.6 -0.4 -0.2 0 -1 0 1 2
10 10 10 10
Real Axis Frequency (rad/sec)
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
28 Mechatronics Design of a Mobile Robot System
(c)
Fig. 5: (a), (b), (c) Three different trajectories of the central point of
the mobile robot
K K
K D s 2 P s I
K K s K Ps K I
2
KD KD
G PID KP I KD D
s s s (17)
The sign of the controller’s output, will determine the robot closed loop system with tachometer, first, for 12 V
direction in which the motor will turn. The Simulink input, the mobile robot will reach output angular speed
model of the closed loop mobile robot system with of 6.67 rad/sin 1,2 s, that is 0.5 m per second. Second,
tachometer ,PID controller with gains (KP=36.55, KI the mobile robot system draws about 17.8 A peak and
=8.33, KD=8.73) is shown in Fig 6(a), running this about 6 A continuous in operation according to this
model will result in response curves shown in Fig 6(b), model.
Several observations can be made from the mobile
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
Mechatronics Design of a Mobile Robot System 29
Fig. 6: (a), Mobile robot Simulink model with PID controller, closed loop mobile robot with tachometer
Robot differential drive Simulink Model, can be
further modified to include PID controller and feedback,
to have the form shown in Fig. 7.
Fig. 7: Robot differential drives Model with PID controller and feedback
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
30 Mechatronics Design of a Mobile Robot System
3.1.2 Proportional -Integral (PI) controller with response include; Zero steady state error, Fast response,
deadbeat response design (short rise time and settling time) and minimal
undershoot, ±2% error band. PI-controller transfer
Deadbeat response means the response that proceeds
function is given by:
rapidly to the desired level and holds at that level with
minimal overshoot, [5]. The characteristics of deadbeat
K
K P s I
K
G PI (s ) K P I
K P s K I K P K P s Z o
s s s s (18)
PI controller represents a pole located at the origin therefore the required prefilter transfer function to
and a stable zero placed near the pole, at Zo=- KI/ KP, cancel the zero is given by:
resulting indrastically eliminating steady state error due
Zo
to the fact that the feedback control system type is G Pr efilter (s )
increased by one. The PI pole and zero will affect the s Z o (19)
response, mainly the PI zero,Zo=- KI/ KP, will inversely
affect the response and should be cancelled by prefilter,
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
Mechatronics Design of a Mobile Robot System 31
The closed loop overall transfer function of the consisting of PI controller, mobile robot forward loop
mobile robot Tmobile(s), with PI controller added, can be transfer function, and given by:
calculated as follows; The forward transfer function is
robot (s ) K s Z o Kt / n
G speed _ forward (s ) P
(La J equiv )s (R a J equiv bequiv La )s (R abequiv K t K b )
2
V in (s ) s
robot (s ) s Z o K P K t
G speed _ forward (s )
(nLa J equiv )s (nR a J equiv nbequiv La )s (nR abequiv nK t K b )s
3 2
V in (s )
(20)
T (s )
robot (s )
s Z o K P K t
(nLa J equiv )s (nR a J equiv nbequiv La )s (nR abequiv nK t K b )s K tac K P K t s Z o
3 2
V in (s )
T (s )
robot (s )
s Z o K P K t
(nLa J equiv )s (nR a J equiv nbequiv La )s (nR abequiv nK t K b )s K tac K P K t s K tac K t K I
3 2
V in (s )
T (s )
Zo s Z o K P K t
s Z o (nLa J equiv )s (nR a J equiv nbequiv La )s 2 (nR abequiv nK t K b K tac K P K t )s K tac K t K I
3
(21)
K I Kt
(s ) nL a J equiv
T speed _ closed (s ) robot
V in (s ) 3 (R a J equiv bequiv La ) 2 (nR abequiv nK t K b K tac K P K t ) K K K
s s s tac t I
L J
a equiv nL J
a equiv nLa J equiv (23)
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
32 Mechatronics Design of a Mobile Robot System
Referring to [5], the required coefficients for our controller with deadbeat responseis shown in Fig.9,
third order system are: α = 1.9, β = 2.2 and replacing this block with PID controller block in model
ωn Ts = 4.04, a suitable settling time is selected to be shown Fig 6(a) up, and running model will result in
1.2S, and correspondingly: ωn *1.2= 4.04, ωn = 3.37. angular speed, position, current and torque response
The Simulink model of Proportional-Integral (PI) curves, shown in Fig. 10.
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
Mechatronics Design of a Mobile Robot System 33
Fig. 10: speed/time, torque/time, speed/time and current/time response curves of the close loop mobile robot system with Proportional-Integral (PI)
controller with deadbeat response
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
34 Mechatronics Design of a Mobile Robot System
Fig. 11: Microcontroller based PMDC motor control system for mobile robot
V. Conclusion
A proposed design of robotic system intended for
research purposes as well as for the application
ineducational process is introduced.The model of
proposed mobile robot was created and verified using
MATLAB Simulink software; realexperiments with
constructed robot in the form of wheelchair, were
accomplished in order to verify the performed
simulations. The results confirmed correctness of design
of the robotic system.
PID controller enables designer to satisfy all required
design specifications,providing almost all the
desiredresponse. Itfound that using a PID controller
with, suitable gains,all ofthe design requirements
wassatisfied;the PMDC motorused reached the desired
output angle smoothly andwithin a desired period of
time. It has observed that both PMDC motors and PID
transfer functions, control have a large influence upon
the response of the system.Toachieve a fast response to
a step command with minimal overshoot and zero
Fig. 12: The designed Mobile Robot, Mechatronics Sec. Lab., Taif steady state error, so called deadbeat response, can be
University, Taif, Saudi Arabia applied to meet desired specifications.
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
Mechatronics Design of a Mobile Robot System 35
Nomenclature
V, or Vin The applied input voltage ,(Motor terminal voltage) Volte, V
Ra Armature resistance,( Motor terminal resistance) Ohm ,Ω
ia Armature current Ampere, A
Kt Motor torque constant N.m/A
Ke Motor back-electromotive force constant V/(rad/s)
ωm Motor shaft angular velocity rad/s
Tm Torque produced by the motor N.m
Jm Motor armature moment of inertia kg.m2
Jtotal Total inertia=Jm+Jload kg.m2
La Armature inductance Henry , H
b Viscous damping, friction coefficient N.m/rad.s
ea ,EMF: The back electromotive force ,EMF,. EMF =Kbdθ/dt ea ,EMF:
θm The output angular position of the motor shaft radians
ωm The output angular speed of the motor shaft rad/sec
VR = R*i The voltage across the resistor Voltage
VL = Ldi/dt The voltage across the inductor Voltage
Tload torque of the mechanical load Tload
Tα torque du to rotational acceleration Tα
Tω torque produced from the velocity of the rotor Tω
TEMF the electromagnetic torque. TEMF
n Gear ratio
Kp Proportional gain
Ktac Tachometer constant
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36
36 Mechatronics Design of a Mobile Robot System
Copyright © 2013 MECS I.J. Intelligent Systems and Applications, 2013, 03, 23-36