Cole Perrault Fall 2015 ET 493 Wesley Deneke Cris Koutsougeras Problem Automobiles have adapted distributing power to two or four wheels via differential Differentials solve this problem by means of a traction control system in order to distribute the power elsewhere to regain tract ID: 797485
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Slide1
Intelligent Traction Control Smart Robot
Cole Perrault
Fall 2015
ET 493
Wesley
Deneke
Cris
Koutsougeras
Slide2Problem
Automobiles have adapted distributing power to two or four wheels via differential.
Differentials solve this problem by means of a traction control system in order to distribute the power elsewhere to regain traction.
Implementing an electronic traction control system onto a robotic platform can serve as a intelligent traction system to control each individual wheel.
Slide3Pros
Cons
Mecanum
Wheel
Maneuverability
70% Push Force
Full Traction
Reliability
FrictionPowerTerrainInclinesWeightSliding
Slide4Mecanum Wheels
Slide5Holobot
Slide6Hardware
Slide7DC Motor
Gear Ratio: 74.83:1
6V Free-Run 130rpm
6V Free-Run Current 450mA
6V Stall Current 6000mA
6V Stall Torque 130
oz*in48 CPR gives 3592 Counts per Revolution
Slide8Proportional-Integral-Derivative
Implementing a closed loop PID system, that can be turned on or off.
Will monitor each wheel’s angular velocity and current/torque to determine wheel slippage.
Will automatically adjust slipping wheel to normal behavior based on slipping coefficients.
Slide9Proportional-Integral-Differential
Proportional
– Product of gain and measured error. Reduces large part of overall error
Integral
– Summing error over time to drive the system to smaller error. Reduces final error in a system
Derivative
– Counteracts the
Kp and Ki terms when output changes quickly.
Slide10PID System
Slide11Methodology
1. Run robot under normal conditions
2. Simulate one wheel slipping under normal conditions
3. Adjust conditions to regain control
Experiment 1 - Control; Recording current and angular velocity
Experiment 2 - Slipping Condition; Recording current and angular velocity
Experiment 3 - Apply more current to slipping wheel to determine percent of slippage.
Slide12Soft Controller
Using Wireless
Xbee
Shield to issue movement commands
Commands will be described by JSON and XML description language
such as OWL or OWL-S
CMPS 411 group will give commands over network “Soft Controller”
Demonstrate flexibility of the controller command system
Slide13Motivation
Implement PID system for personal development – learn something
Have a platform to be used by future students – teach others
Implement small research and development for the stability in systems – perform research
Contribution to the school for future interests – school merit
Create a platform for soft controller – group development
Slide14Current Accomplishments
Future Goals
Accomplishments
Peripherals Research
DC Motor Research
Voltage Regulation
Transfer Function Equations
Building the Holobot
Coding the HolobotCoding the PIDImplementation of PIDTesting of PIDIntegration of Soft C
ontroller
Slide15Deliverables
PowerPoint
Presentation
……………………..…………...…Sept. 11
Encoders…………………………………………...…………...Sept. 14
Experiment 1 & 2……………….……………….......…………Sept. 28
Coding/Implementation of PID…………….……………….…..Oct. 1
Experiment 3……………………………….……...…..……..….Oct. 14
PID Analysis……………………………………………..……….Oct. 23Implementation of Soft Controller…………………...............Nov. 1Final Analysis……………………………….…………….…… Nov. 20
Slide16Holobot
Cole Perrault
Fall 2015
ET 493
Wesley
Deneke
Cris
Koutsougeras