Abstract
During the design of a wheeled mobile robot, the problem of the proper selection of the parameters of its motor controllers was encountered. Knowing the parameters of the robot's Permanent Magnet Direct Current (PMDC) motors, precise tuning of the controllers can be performed, which then results in improved robot dynamics. Among many methods of parametric model identification, optimization-based techniques, particularly genetic algorithms, have gained more and more interest recently. The articles on this topic present the results of parameter identification, but they do not refer to the search ranges for individual parameters. With too wide a range, genetic algorithms do not find solutions or are time-inefficient. This article introduces a method for determining the parameters of a PMDC motor. The proposed method performs an initial estimation of the range of searched parameters to shorten the estimation time of the bioinspired optimization algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
