Angular Position Control of DC Gear-Motor Using PID Controllers for robotic Arm

摘要

In this paper, the angular position of a DC geared motor for Robotic is controlled by PID (proportional, integral, and derivative) controllers. The Arduino UNO microcontroller board generates pulse width modulation (PWM) signals, which are utilized to operate the 12V ASLONG JGY-371 DC Gear motor. The L29SN Dual H-bridge module can drive two DC motors in both directions. In this work, the performance of DC motors is investigated using step and sine input, We obtain strong stability and extremely low error oscillations for the output angular position by adjusting the gain parameters kp, ki, and kd of the PID controller. At 90 and 45 degrees all DC motors respond satisfactorily to the desired input, with overshoots less than 1.81 %, rise time does not exceed 1.6 second, a settling time less than 2.6 second and steady-state errors 0.85 %. In contrast, at 10 and 22.5-degree reference inputs, all DC motors react with low augmentation error, with less than 4.3 % overshoots, a rising time of less than 1.55 second, a settling time less than 2.5 second and steady-state errors ranging from 13.5 to 5.80 %.