期刊名称：International Journal of Computer, Information, and Systems Science, and Engineering
印刷版ISSN：1307-2331
出版年度：2008
卷号：02
期号：01
出版社：World Academy of Science, Engineering and Technology
摘要：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¡±.
关键词：Control System Design, DC Motors, Differential
Drive, H-bridge control circuit, MATLAB Simulink model,
Peripheral Interface Controller (PIC),Wheeled Mobile Robots.
Loading...
