Embedded system for front differential drive of rotational and translational vehicle position control

Angie J. Valencia Castañeda, Mauricio F. Mauledoux, Óscar F. Avilés, Paola A. Niño Suarez, Edgar A. Portilla Flores

Research output: Contribution to journalArticle

Abstract

© 2017 Praise Worthy Prize S.r.l. - All rights reserved. Hardware in the loop is presented as a valid solution both to design and simulate mechanical models using “close loop control” techniques. Through the application of controller algorithms, the mechanical model is defined either as a physical mechanism or as an embedded device, allowing to get a suitable control structure to implement in real life. Hence, the following work will show the design of a PID and a Root Locus Compensator controllers for a differential transmission in a four-wheeled vehicle, using Hardware in the loop (HIL) techniques and an STM development boards. Subsequently, a simulation is carried out to get a comparison between the data produced by HIL and those obtained by computational tests, allowing to acquire the system behaviour at different sample time.
Original languageAmerican English
Pages (from-to)325-331
Number of pages291
JournalInternational Review of Automatic Control
DOIs
StatePublished - 1 Jan 2017
Externally publishedYes

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