Jv
J. van der Geize
info
Please Note
<p>This page displays the records of the person named above and is not linked to a unique person identifier. This record may need to be merged to a profile.</p>
1 records found
1
In this thesis, a motor controller was designed, implemented on a Printed Circuit Board (PCB), and validated. The motor controller was designed to drive a motor as part of a differential drive configuration, it does this based on external signals which are generated by a Finite State Machine (FSM). The PCB was specifically designed to implement the following features: driving the motor, communication with other subsystems via a CAN interface, determining the current draw of the motor, and measuring the position and speed of the wheels. A Proportional-Integral (PI) feedback controller was designed and tuned to determine the duty cycle of the motors based on speed measurements. To validate the design, the PI controller response was measured and documented, and compared against the theoretical model. The PI controller proved to be an effective solution and was congruent with the theoretical model, albeit with some non-linearities which came with the physical implementation. Furthermore, the CAN communication protocol was verified by measuring a handshaking signal.
...
In this thesis, a motor controller was designed, implemented on a Printed Circuit Board (PCB), and validated. The motor controller was designed to drive a motor as part of a differential drive configuration, it does this based on external signals which are generated by a Finite State Machine (FSM). The PCB was specifically designed to implement the following features: driving the motor, communication with other subsystems via a CAN interface, determining the current draw of the motor, and measuring the position and speed of the wheels. A Proportional-Integral (PI) feedback controller was designed and tuned to determine the duty cycle of the motors based on speed measurements. To validate the design, the PI controller response was measured and documented, and compared against the theoretical model. The PI controller proved to be an effective solution and was congruent with the theoretical model, albeit with some non-linearities which came with the physical implementation. Furthermore, the CAN communication protocol was verified by measuring a handshaking signal.