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• Navigation of Differential Drive Mobile Robot on Predefined, Software Designed Path

  1-5.

  Áron Papp

  László Szilassy

  József Sárosi

  Views:

  130

  This paper will be presenting the process of mobile robot movement controlling, from the task of collecting sensor data until the problem of controlling data to the servo motor controllers. In details, the first part will show the mechanism of converting CAD data to routes, and the processing of the navigation data read from the sensors and calculated from former controlling commands. The second part will explain the processing of navigation data, the applying of the actual robot position and orientation on the predefined virtual path and the production of the controller's input variables. The Fuzzy controller and the rule base will be introduced in the third part.

• Modelling and Simulation of Stepper Motor For Position Control Using LabVIEW

  1-5.

  Ahmet Mehmet Karadeniz

  Malek Alkayyali

  Péter Tamás Szemes

  Views:

  1633

  This paper presents hybrid stepper motor (is a type of stepping motor) modelling and simulation which is widely used a kind of motor in industrial applications. In this study, the stepper motor was modelled using bond graph technique and simulation for desired position was executed on LabVIEW
  graphical interface. Then, firstly a convenient PID controller was designed for position, speed and current and PID close loopresponse was obtained for position control. Then, PID parameters for each controller were arranged separately to obtain good response Secondly, Fuzzy Logic controller applied to
  the system and its response was obtained. Finally, both responses are compared. According to comparison, it was observed that Fuzzy Logic controller’s response is better than PID’s. (In this paper, all shown responses were observed for 120 degree desired position)