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DC Motor Control Systems for Robot Applications
October 2003, Written by Rick Bickle
The following presentation looks at the operation of control systems in general, as well as specific control systems for DC motor controls in robots. Circuits used in motor speed control, techniques for speed control, and examples of different types of control systems are shown. Finally, a description of a specific type of motor control system called a PID system is detailed, showing the mathematics of PID, the parameters, the algorithms used, possible pit falls of PID programming,and an example of a PID tuning method.
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Need even more information on PID? Here are links to a few other good sources of information on this important control technique.
- PID Controller, Wikipedia
- PID Without a PhD, Embedded Systems Magazine
- What is PID? Tutorial Overview, ExpertTune
- Using PID for Odometry, Seattle Robotics Society