Designing a turret mount module for a modular mobile robot platform

Authors: Kurochkin S.Yu.
Published in issue: #9(14)/2017
DOI: 10.18698/2541-8009-2017-9-167
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: layout featuring a piano wheel, mobile robot, PID controller, switchable PID controller, digital PID controller
Published: 14.09.2017

The artlile focuses on the support-rotary module design. We developed a model of a digital PID controller and compared the methods for adjusting its position. As a result of the comparison and using analytical methods, manual tuning, as well as a PID controller with switching in response to the unit step excitation, we found that the most qualitative transient process was provided by a PID controller with switching. We built a digital PID controller model designed to implement a PID controller on a microcontroller.

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