[ACM Press the CUBE International Information Technology Conference - Pune, India (2012.09.03-2012.09.05)] Proceedings of the CUBE International Information Technology Conference on - CUBE '12 - Design and simulation of adaptive PID controller powered by PWM signals to actuate DC motor drive system used in climbing robot

✍ Scribed by Rathod, Sheetal Devidas; Raju, Kota Solomon; Akbar, S. A.

• Book ID: 126093623
• Publisher: ACM Press
• Year: 2012
• Tongue: English
• Weight: 705 KB
• Category: Article
• ISBN: 1450311857
• DOI: 10.1145/2381716.2381874

✦ Synopsis

This paper proposes the design of adaptive PID controlled DC motor drive system for climbing robot considering that it is encountering variety of climbing surfaces such as wooden, metallic (such as aluminum, iron), fiber etc. during cleaning of glassy surface both in domestic and industrial environment. The PID control parameters and corresponding PWM duty cycle are obtained for each of the surfaces by simulating transfer function model of DC drive system. These duty cycles are generated using AVR based micro-controller structure which in turn drives the actuating motors of the glass cleaning robot. The robotic structure is designed in such a way that, suction cups are used for climbing purpose.