Electronic gearing of two DC motor shafts for Wheg type mobile robot

Autor:	Sanja Antić, Vojislav Vujičić, Milos Bozic, Miroslav Bjekic, Goran S. Đorđević
Rok vydání:	2018
Předmět:	Coupling business.industry Control theory Computer science Electrical engineering General Earth and Planetary Sciences Mobile robot Type (model theory) business Encoder DC motor General Environmental Science Drive motor
Zdroj:	Facta universitatis - series: Electronics and Energetics. 31:75-87
ISSN:	2217-5997 0353-3670
DOI:	10.2298/fuee1801075b
Popis:	This paper describes the implementation of electronic gearing of two DC motor shafts. DC motors are drives for a mobile robot with wheels in the form of wheel - leg (Wheg) configuration. A single wheel consists of two Whegs (dWheg). The first DC motor drives one Wheg, while the second one drives another independent Wheg. One motor serves as the master drive motor, while the other represents the slave drive motor. As the motors are independent, it is necessary to synchronize the speed and adjust the angle between shafts. The main contribution of this paper is the implementation of control structure that enables the slave to follow the master drive, without mechanical coupling. Based on encoder measurements, the slave effectively follows the master drive for the given references of speed and angle. Speed and positioning loops are implemented on real time controller - sbRIO. The laboratory setup was created and comparison of realized and required angles and speeds was made.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::944737830cbf9d641db8747f44c04b5b https://doi.org/10.2298/fuee1801075b Zobrazit plný text záznamu