Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30523
Analysis on Modeling and Simulink of DC Motor and its Driving System Used for Wheeled Mobile Robot

Authors: Wai Phyo Aung

Abstract:

Wheeled Mobile Robots (WMRs) are built with their Wheels- drive machine, Motors. Depend on their desire design of WMR, Technicians made used of DC Motors for motion control. In this paper, the author would like to analyze how to choose DC motor to be balance with their applications of especially for WMR. Specification of DC Motor that can be used with desire WMR is to be determined by using MATLAB Simulink model. Therefore, this paper is mainly focus on software application of MATLAB and Control Technology. As the driving system of DC motor, a Peripheral Interface Controller (PIC) based control system is designed including the assembly software technology and H-bridge control circuit. This Driving system is used to drive two DC gear motors which are used to control the motion of WMR. In this analyzing process, the author mainly focus the drive system on driving two DC gear motors that will control with Differential Drive technique to the Wheeled Mobile Robot . For the design analysis of Motor Driving System, PIC16F84A is used and five inputs of sensors detected data are tested with five ON/OFF switches. The outputs of PIC are the commands to drive two DC gear motors, inputs of Hbridge circuit .In this paper, Control techniques of PIC microcontroller and H-bridge circuit, Mechanism assignments of WMR are combined and analyzed by mainly focusing with the “Modeling and Simulink of DC Motor using MATLAB".

Keywords: Wheeled mobile robots, Control System Design, DC Motors, DifferentialDrive, H-bridge control circuit, MATLAB Simulink model, Peripheral Interface Controller (PIC)

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1330777

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10448

References:


[1] Steven T.Karris, ÔÇÿIntroduction to Simulink with Engineering Applications-, Orchard Publications, www.orchardpublications.com
[2] Tan Kiong Howe, May 2003, Thesis, B.E (Hons), ÔÇÿEvaluation of the transient response of a DC motor using MATLAB/SIMULINK-, University of Queensland.
[3] MathWorks, 2001, Introduction to MATLAB, the MathWorks, Inc.
[4] MathWorks, 2001, SIMULINK, the MathWorks, Inc.
[5] MathWorks, 2001, What is SIMULINK, the MathWorks, Inc.
[6] EE505 Electrical Engineering Lab, Spring 2007, project paper, ÔÇÿLab2. DC Motor Control using a Microcontroller-.
[7] Carnegie,D.etal, 2004, ÔÇÿA human-like Semi Autonomous Mobile Security robot, University of Waikato, Hamilton, New Zealand.
[8] Microchip Technology, Inc.2001, PIC16F84A Data Sheet, www.microchip.com