Applications for PID Control DC Motors in All-terrain Robots: Theory and Practice

Authors

  • Yunqi Wang

DOI:

https://doi.org/10.61173/s5vsw310

Keywords:

All-terrain mobile robot, Dual-loop PID control, Stability control of movement, Real time param-eter optimization, DC motor control

Abstract

This article proposes a control strategy based on dual-loop PID for the motion control of all-terrain mobile robots in complex environments. The research combines theoretical analysis and practical verification to design and implement an innovative dual-loop control system. The experimental platform adopts a spherical all-terrain robot, which achieves all-round motion control through a three-wheel omnidirectional drive structure. The system integrates a balancing loop based on PD control and a speed loop based on PI control, achieving the unity of motion stability and accuracy. The experimental results show that the optimized control system has a steady-state error of less than 1%, a response time of 150ms, and an external disturbance recovery time of no more than 0.5s. The system exhibits excellent adaptability under various terrain conditions and can adapt to a maximum tilt angle of 15 degrees. This study provides a practical solution for high-performance motion control of all-terrain mobile robots and has important reference value for developing autonomous robot systems.

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Published

2025-06-26

Issue

Vol. 3 No. 3 (2025): Volume 3, Issue 3

Section

Articles

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Copyright (c) 2025 by the authors.

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This work is licensed under a Creative Commons Attribution 4.0 International License.