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Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control

Angie Julieth Valencia Castañeda(1), Mauricio Felipe Mauledoux Monroy(2), Oscar Fernando Avilés Sánchez(3*), Paola Andrea Niño Suarez(4), Edgar Alfredo Portilla Flores(5)

(1) Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Colombia
(2) Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Colombia
(3) Mechatronics Engineering Program, Faculty of Engineering, Militar Nueva Granada University, Colombia
(4) School of Mechanical and Electrical Engineering, Azcapotzalco, Politecnic Nacional Institute, Mexico
(5) School of Mechanical and Electrical Engineering, Azcapotzalco, Politecnic Nacional Institute, Mexico
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v10i4.11802

Abstract


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.
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Keywords


Mathematical Modelling; PID Controller; Control LGR; Hardware In The Loop

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References


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