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A student has to develop a traction control system that detects wheel slip and
adjusts the velocity of the wheels accordingly.
Robotic vehicles are becoming increasingly complex and often need high levels
of movement control. Specifically, when the wheels of a vehicle begin to slip, it is optimal
to adjust their speed so that the vehicle moves towards its intended direction.
Applications include vehicles traveling over rough terrain, exploratory robots, and remote
controlled cars. The purpose of this project is to design and implement a four wheel drive
robot that monitors the rotational velocity of each wheel and limits the amount of slip
when the vehicle is accelerating.
The main component of this traction control system is a feedback loop that
adjusts the velocity of each individual wheel to the velocity of the slowest wheel on the
vehicle. It contains both positive and negative feedback by slowing down the fastest
wheel motor and speeding up the slowest. This block diagram is implemented four times
in software for each wheel.
Scope:
1. ATmega644
The Atmel Mega644 was used to control and monitor the acceleration and
velocity of a vehicle. The major features of the Mega644 that were used for this project
included one 8-bit timer, 4 PWM output pins, one Analog to Digital converter, and four
standard I/O pins. The Mega644 chip has to built on a prototype board provided Prayog
Labs. It features an easy way to power, attach a crystal clock, connect to a RS232
interface, and program the Atmel chip.
7. H-bridge Hardware
8. PC Board Fabrication
10.Debugging
11.Final Report