Mathematical Model for Line Follower Robot
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ScribdTranslationsMathematical Model for Line Follower Robot
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ScribdTranslationsMATHEMATICAL MODEL OF A LINE FOLLOWER
Oscar Barron Reynoso
Higher Technological Institute of Poza Rica. Dept. of Mechatronics Engineering
Summary the autonomy of the robot itself limiting everything
the possible human intervention.
The present work describes the analysis of a In the development of a robotic system
second order linear and time-invariant system in the it must be taken into account that it is composed of
time seen from the partial development of a robot by several elements that can be divided into:
line follower emphasizing control of
the engines and their reaction in response to the data
Mechanics
obtained by the sensor.
Electronics
1.- INTRODUCTION Control
In the present work, we will address the
A system is linear if the function that relates mathematical model of engines (mechanics)
the rate of increase of the state variables and in the control part through sensors.
with its current values complies with the
principle of superposition. The systems
Linear ones are simple to analyze and to work with, 2.- ENGINE MODELING
since the solution of the system subject to
complex conditions can be achieved
simplifying the problem to the sum of A CD motor will be used with a
system responses to more conditions reduction of gears (Figure 1), which provides
simple. a torque of 38 RPM of 3.6 kg-cm to a
9 volts tension.
A system is time-invariant if it does not
explicitly depends on time. From the
definition can be concluded that every system
autonomous is invariant in time in general
a dynamic system is time-invariant
if two trajectories passing through the same
point in different times have the same
evolution with a timeframe, of not
fulfilling this condition is said that the system
it varies over time.
The development of mobile robots responds to the
need to extend the scope of application
of Robotics. It is also about Figure 1: DC motor with reduction
increase gears
For the engine modeling, analysis is required. it is the torque generated by the engine
from figure 2 load that affects the engine
The torque produced by the engine depends on
the current that the motor consumes:
Equation 3
Figure 2 Schematic of a DC Motor
Where is known as the constant of
The electrical part of our system can be torque, and the counter electromotive force,
it depends on the rotation speed of the axis of the
model based on the following equation
motor
Equation 4
Equation 1
Where: Y it is the constant of force against
L is the inductance electromotive. If we substitute these equations
R is the resistance that relate electrical and mechanical variables
it is the current that consumes in differential equations, we are
it is the input voltage combining both systems: mechanical and
it is the voltage of counter electromotive force electric in one sun. The model would remain somewhat
like this:
Now, the mechanical part. The current that
flows through the engine, generates through induction
a torque on the motor shaft, then
we can write equations of motion Equation 5
in the following way:
Where:
L = 0.5
J=5
R = 500
Equation 2 =7
= 40
Where: 70
It is the speed of the engine =0
This is the moment of inertia
coefficient of viscous friction
The Laplace transform is applied to
find the transfer function within
voltage and output, the following system is reached:
Equation 6 Figure 5 block diagram of a DC motor
In order to make the work more understandable Observing graph 1, we can realize that
carried out will not occupy the function of it is representing the tension in our system
simplified transfer of the DC motor, in upon reaching a peak of 9 volts to then descend and
change it was decided to make the diagram of the stabilize at 6 volts.
two subsystems, both the current and the
of the angular velocity separately and at the end
unite them into a single system.
Following equation 1, the block diagram
it would be as follows:
Graph 1
Figure 3 Block diagram of the current.
In graph 2, the angular velocity of
Using equation 2 to determine the speed our engine that starts at 0 and at the moment that it
angular energize starts to increase its speed as well
find a stable speed.
Figure 4 Block diagram of angular velocity
After obtaining the diagram of the two
subsystems it is easier and more understandable the union of
this same full diagram is shown in the
figure 5.
Graph 2
For our line follower case, it's enough
to replicate the engine model in order to
to have both engines, the block diagram
it will be the following:
Figure 6 Diagram of 2 DC motors
3.- CONCLUSION
Having the mathematical model of a system
it has many advantages. Some are: allowing
estimate the system's response to different
entries, study the performance of the system in
closed loop varying the parameters of
controller, to know the conditions of
engine operation for performance
desired.
4.- REFERENCES
1 automatic control systems 7th edition
Benjamin C. Kuo.
2 theses analysis modeling and simulation in
direct current motor computer
Technological University of the Mixteca
3 Modeling of DC motors for robot
line follower Catholic University
Bolivian
