Controle híbrido de um robô seguidor de linha
This work presents the realization of the modeling and implementation of the hybrid control (continuous-time and discrete events) on a line follower robot. Initially the formal control methods continue controllers (P, I and D) as well as discrete events (Moore and Mealy automata) needed to perform t...
| Autor principal: | Guadagnin, Alan Junior |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2020
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/14976 |
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| Resumo: |
This work presents the realization of the modeling and implementation of the hybrid control (continuous-time and discrete events) on a line follower robot. Initially the formal control methods continue controllers (P, I and D) as well as discrete events (Moore and Mealy automata) needed to perform the work are presented. In developing methods for signal conditioning are used , making the experimental process modeling , Simulink software is used for simulation of the mathematical model for testing and implementation of a proportional controller, which was used for position control. For the discrete events is used to automata theory Moore for modeling and code generated by a computer software (Deslab). The implementation of hybrid control is taken where the microcontroller are integrated controllers for continuous variables and discrete events. Once assembled, the robot worked correctly on a course of competitions Robocore, traversing this route without leaving the central belt and also identifying discrete events. |
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