Intelligent Traction Control Smart Robot Cole Perrault Fall

Intelligent Traction Control Smart Robot 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 traction. § Implementing an electronic traction control system onto a robotic platform can serve as a intelligent traction system to control each individual wheel.

Mecanum Wheel Pros Cons § Maneuverability § 70% Push Force § Full Traction § Reliability § Friction § Power § Terrain § Inclines § Weight § Sliding

Mecanum Wheels

Holobot

Hardware

DC Motor § Gear Ratio: 74. 83: 1 § 6 V Free-Run 130 rpm § 6 V Free-Run Current 450 m. A § 6 V Stall Current 6000 m. A § 6 V Stall Torque 130 oz*in § 48 CPR gives 3592 Counts per Revolution

Proportional-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.

Proportional-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.

PID System

Methodology § 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.

Soft Controller § Using Wireless Xbee Shield to issue movement commands § CMPS 411 group will give commands over network “Soft Controller” § Commands will be described by JSON and XML description language such as OWL or OWL-S § Demonstrate flexibility of the controller command system

Motivation § 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

Accomplishments Current Accomplishments Future Goals § Peripherals Research § DC Motor Research § Voltage Regulation § Transfer Function Equations § Building the Holobot § Coding the PID § Implementation of PID § Testing of PID § Integration of Soft Controller

Deliverables § Power. Point Presentation…………. . . …Sept. 11 § Encoders……………………. . . Sept. 14 § Experiment 1 & 2………………. . . . …………Sept. 28 § Coding/Implementation of PID……………. …. . Oct. 1 § Experiment 3………………. ……. . …. Oct. 14 § PID Analysis………………………. Oct. 23 § Implementation of Soft Controller…………………. . . . Nov. 1 § Final Analysis………………. …… Nov. 20

Holobot Cole Perrault Fall 2015 ET 493 Wesley Deneke Cris Koutsougeras