Sökning: "PID-kontroller.."

Visar resultat 1 - 5 av 14 uppsatser innehållade ordet PID-kontroller...

  1. 1. Balans-en : Construction of a self-balancing robot with tilt setpoint correction

    Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Hanna Modin; Kasper Georén; [2023]
    Nyckelord :Mechatronics; two wheeled self-balancing robot; robot; inverted pendulum; control engineering; Mekatronik; tvåhjulig självbalanserande robot; robot; inverterad pendel; reglerteknik;

    Sammanfattning : This report presents the construction of a two-wheeled self balancing robot with the ability to handle an uneven load. Two-wheeled self-balancing robots have proven to be a potential solution to the problem of efficient warehouse management, thanks to their ability to navigate tight spaces quickly and efficiently while balancing their load. LÄS MER

  3. 2. Balancing a Monowheel with a PID controller

    Kandidat-uppsats, KTH/Mekatronik

    Författare :Fritiof Andersen Ekvall; Nils Winnerholt; [2021]
    Nyckelord :Mechatronics; Monowheel; Balance; PID Arduino; Mekatronik; Monowheel; Balans; PID Arduino;

    Sammanfattning : This bachelor’s thesis aimed to create a self balancing monowheel, a vehicle type consisting of one wheel, using a PID controller. The wheel is equipped with an accelerometer to gather data about the tilt of the construction, which is then filtered using a Kalman filter. LÄS MER

  4. 3. Improvement of Steering Performance of a Two-axle Railway Vehicle via Look-up Tables Estimation

    Master-uppsats, KTH/Spårfordon

    Författare :Prapanpong Damsongsaeng; [2020]
    Nyckelord :Two-axle railway vehicle; Active steering system; Look-up tables; Time-varying wheel-rail contact parameters; Två-axligt järnvägsfordon; aktiv styrning; uppslagstabeller; tidsvarierande hjul-rälskontaktparametrar;

    Sammanfattning : A conceptual design of an innovative two-axle lightweight railway vehicle for commuter services is carried out at KTH Railway Group. An active wheelset steering is introduced to improve the curving performance of the vehicle, which is one of the critical performance requirements. LÄS MER

  5. 4. Stuck state avoidance through PID estimation training of Q-learning agent

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Johan Moritz; Albin Winkelmann; [2019]
    Nyckelord :Q-learning; QL; PID; wheeled inverted pendulum; WIP; reinforcement learning; estimation training; Q-learning; QL; PID; självbalanserande robot; reinforcement learning; estimeringsträning;

    Sammanfattning : Reinforcement learning is conceptually based on an agent learning through interaction with its environment. This trial-and-error learning method makes the process prone to situations in which the agent is stuck in a dead-end, from which it cannot keep learning. LÄS MER

  7. 5. A comparison between a traditional PID controller and an Artificial Neural Network controller in manipulating a robotic arm

    Kandidat-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Joseph Ariss; Salim Rabat; [2019]
    Nyckelord :Artificial Intelligence; Artificial Neural Network; Control System; PID Controller; Model Reference Controller; Robot arm; Artificiell Intelligens; Artificiell Neuralt Nätverk; Kontroll System; PID-kontroller; Modellreferenskontroller; Robotarm;

    Sammanfattning : Robotic and control industry implements different control technique to control the movement and the position of a robotic arm. PID controllers are the most used controllers in the robotics and control industry because of its simplicity and easy implementation. However, PIDs’ performance suffers under noisy environments. LÄS MER