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    Controls 2

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    Aviral Vishesh Naresh Goel

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    © All Rights Reserved
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    Controls 2

    Uploaded by

    Aviral Vishesh Naresh Goel
    3 views4 pages

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    controls_2

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    Copyright:

    © All Rights Reserved
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    3 views4 pages

    Controls 2

    Uploaded by

    Aviral Vishesh Naresh Goel

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    Control Systems Lab -

    Experiment 2
    Line follower
    Group Number 10
    Daksh Pakal, 210070023
    Snehaa Reddy, 210070067
    Shravani Kode, 210070082
    October 3, 2023

    1
    1 Objective
    Design and implement a PID controller for the Spark V robot to make it follow
    a continuous black track, using the IR sensors provided on the robot for this
    purpose. Additionally, to tune the parameters such that the track is traced
    within 30s.
    Spark V robot is based on ATMEGA16 microcontroller. It is programmed using
    AVR Programmer tool in Embedded C. It allows movement in 8 possible ways
    which can be adjusted by changing the value of the registers.
    These 8 are FWD, REV, RIGHT, LEFT, SOFT RIGHT, SOFT LEFT, SOFT
    RIGHT 2, SOFT LEFT 2.
    We have only used LEFT and RIGHT for our algorithm. Additionally the Spark
    V allows speed control using PWM. It has 3 IR sensors under its panel, each of
    which give reading from 0-255 based on the reflectivity of the surface it is held
    against.

    2 Control Algorithm
    2.1 Aurdino Code
    int main(void)
    {
    init_devices();
    lcd_set_4bit();
    lcd_init();

    int error=0
    int prev_error = 0;
    unsigned int kp = 9.2 , kd = 3.2 ;
    int control_signal;

    while(1){

    l=ADC_Conversion(3);
    c=ADC_Conversion(4);
    r=ADC_Conversion(5);

    lcd_print(1, 1, l, 3);
    lcd_print(1, 5, c, 3);
    lcd_print(1, 9, r, 3);

    error = r-l;

    control_signal = kp*error + kd*(error - prev_error); //ki is taken to be 0


    int x = min(abs(control_signal) + 80 , 255);

    2
    if(control_signal == 0 || c >= 9){
    forward();
    }

    else if(control_signal > 0){


    velocity(x ,x);
    right();
    }
    else if(control_signal < 0){

    velocity(x,x);
    left();
    }
    else if(abs(control_signal) < 4 && c >= 8) {
    velocity(x,x);
    forward();
    }
    else{
    forward();
    }
    prev_error = error;

    _delay_ms(100);

    2.2 Explanation
    We are basically trying to control the velocity using a PID controller. We have
    defined a control signal variable which stores the pid output. There are 4 total
    possible types of situations:
    • Whenever there is supposed to be a right turn the error term which is the
    difference between the right and the left sensor value will be positive. Also
    the previous error will be less than the current error. Therefore the pid
    output value i.e. control signal variable will be positive. We can detect
    this condition and make the bot to move rightwards using right() function
    with the velocity depending on the control signal.

    • Whenever there is supposed to be a left turn the error term which is the
    difference between the right and the left sensor value will be negative.
    Also the previous error will be less in magnitude than the current error.
    Therefore the pid output value i.e. control signal variable will be negative.
    We can detect this condition and make the bot to move leftwards using
    left() function with the velocity depending on the control signal.

    3
    • The major challenge was to cross the plus shaped obstacle in the track.
    We realised that during this location the pid output goes to zero. So in
    order to detect this we have included another else if condition telling the
    bot to move forward.

    3 Challenges Faced and their Solutions


    • As mentioned earlier one of the major challenges was to cross the plus
    shaped obstacles on the path of the bot. We had to go through a lot of
    ways to get this done right.

    • We made a crucial mistake of not noting the sensor values across the
    different regions of the track. Because of this we faced a lot of issues in
    tuning the PID parameters.
    • The bot allotted to our team had one faulty center which always lead the
    bot to prefer onr side more than needed using the turns.

    4 Results
    • kp = 9.2
    • kd = 3.2

    • ki = 0
    • total time taken to complete the path = 26.9 seconds

    5 Observations and Inference


    • Increasing the value of Kp increases the speed of the bot.
    • Adding the derivative term to the controller reduced these oscillations and
    then the system met the required track.

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