PID Control of a Remote Controlled Car

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PID Control of a Remote Controlled Car

• John J. Noegel

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Purpose

• To become familiar with the operation of a handy
  board and the coding involved in controlling a
  system.

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Problem Statement

• To use a Handy board to control a remote control
  vehicle to follow a wall at a specified distance
  and follow codes by priority

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Test Background

• Remote control vehicle with one motor for turning
  and one for forward and reverse motion
• Two IR sensors One for staying a specified
  distance from the wall and the other for
  obstacles
• Involve priority coding in the program

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PID Programming

• Set Point 228 (desired distance for IR)
• Kp 32, Ki 2, Kd 0.1,
• ts 0.001
• c_error set-y ( y analog input of IR)
• power (Kpc_error)Ki(integral)de_dt(Kd)
• integral 0.5(c_errorp_error)ts
• de_dt (c_error-p_error)/ts
• motor(1,(int)power) (turn motor)
  

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Final PID Control of System
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Conclusions

• Attempted to tune PID three times unsuccessfully
• Motor unacceptable to program for true PID
  control
• System can be made to operate without constraints
  of testing, but operation could be much cleaner

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Recommendations

• Use a system without a 3 position motor (all on
  right, all on left, or off)
• Use a system preferably with position sensitive
  motor or install an actuator to control position
  of motor