Connections to Control Concepts: Rover Vehicle
Prof. R. H. Bishop
University of South Florida
The rover vehicle assembly provides insight into two feedback control system concepts: (i) openloop control to a
reference input and (ii) closed-loop feedback control to track a predetermined path.
A. Demonstrating open-loop control
Open-loop control utilizes an actuator and a controller to command the plant directly without using feedback. In this
case, the rover vehicle and two geared, DC motor-driven wheels serve as the plant and actuators, respectively. The
commands enter the control system via the host computer through front panel commands sent over the network
connection to the myRIO which hosts the motor control code. Students may add PID code to control the plant’s
position or velocity. The main benefit of openloop control is reduced overall complexity—meaning that the additional
challenges associated with introducing sensors and feedback loops are avoided. However, the open-loop control
system is highly sensitive to external disturbances, represented by Td(s), and to both knowledge of and changes in
the parameters of the plant, represented by G(s). Therefore, open-loop control does not address key design issues in
feedback control of disturbance reduction and robustness. For example, when commanded to ‘turn right’, the open-
loop control system may indeed turn the rover, but in the presence of external disturbances, the rover may not turn at
an acceptable rate and the final direction may not be acceptable. The open-loop control system performance can be
tuned by adjusting the PID controller gains.
Figure 1 Open loop control with external disturbances.
Plant
Rover vehicle
Sensor
None
Actuator
DC servo motors
Performance
Command following
Design objectives
Tune the control system by adjusting PID gain constants
Reference inputs
External commands to turn right, left, back, forward
Plant
Controller
G
c
(s)
G(s)
Actuator
Rover
Reference
Input
Output
T
d
(s)
80
Rover Vehicle Assembly
Summary of Contents for 41427
Page 1: ...RobotBuilder sGuide for NI myRIO 41427 POWERED BY...
Page 2: ......
Page 20: ......
Page 23: ...Finished Assembly Step 5 Subassembly Construction Instructions 21...
Page 25: ...Step 5 Step 6 Step 7 Step 9 Step 8 Step 10 Subassembly Construction Instructions 23...
Page 26: ...Step 12 Step 14 Step 16 Step 11 Step 13 Step 15 24 Subassembly Construction Instructions...
Page 27: ...Step 18 Step 17 Finished Assembly Subassembly Construction Instructions 25...
Page 29: ...Step 6 Finished Assembly Step 5 Subassembly Construction Instructions 27...
Page 54: ......
Page 57: ...Step 1 0 Step 1 1 Rover Vehicle Assembly 55...
Page 58: ...Step 1 2 Step 1 3 56 Rover Vehicle Assembly...
Page 59: ...Step 1 4 Rover Vehicle Assembly 57...
Page 61: ...Step 2 0 Step 2 1 Rover Vehicle Assembly 59...
Page 62: ...Step 2 2 60 Rover Vehicle Assembly...
Page 64: ...Step 3 0 Step 3 1 62 Rover Vehicle Assembly...
Page 65: ...Step 3 2 Step 3 3 Rover Vehicle Assembly 63...
Page 66: ...Step 3 4 Step 3 5 64 Rover Vehicle Assembly...
Page 68: ...Step 4 0 Step 4 1 66 Rover Vehicle Assembly...
Page 69: ...Step 4 2 Step 4 3 Rover Vehicle Assembly 67...
Page 70: ...Step 4 4 Step 4 5 68 Rover Vehicle Assembly...
Page 71: ...Step 4 6 Step 4 7 Rover Vehicle Assembly 69...
Page 73: ...Step 5 1 Step 5 0 Step 5 2 Step 5 3 Step 5 4 Step 5 5 Rover Vehicle Assembly 71...
Page 74: ...Step 5 6 Step 5 7 72 Rover Vehicle Assembly...
Page 76: ...Step 6 0 Step 6 1 74 Rover Vehicle Assembly...
Page 77: ...Step 6 2 Step 6 3 Rover Vehicle Assembly 75...
Page 78: ...Step 6 4 76 Rover Vehicle Assembly...
Page 84: ......
Page 87: ...Step 1 0 Step 1 1 Step 1 2 BalancingArmAssembly 85 Balancing Arm Assembly 85...
Page 88: ...Step 1 4 Step 1 3 86 BalancingArmAssembly 86 Balancing Arm Assembly...
Page 89: ...Step 1 6 Step 1 5 BalancingArmAssembly 87 Balancing Arm Assembly 87...
Page 90: ...Step 1 8 Step 1 7 88 BalancingArmAssembly 88 Balancing Arm Assembly...
Page 91: ...Step 1 10 Step 1 9 BalancingArmAssembly 89 Balancing Arm Assembly 89...
Page 92: ...Step 1 12 Step 1 11 90 BalancingArmAssembly 90 Balancing Arm Assembly...
Page 93: ...Step 1 14 Step 1 13 BalancingArmAssembly 91 Balancing Arm Assembly 91...
Page 94: ...Step 1 16 Step 1 15 92 BalancingArmAssembly 92 Balancing Arm Assembly...
Page 95: ...Step 1 17 BalancingArmAssembly 93 Balancing Arm Assembly 93...
Page 97: ...Step 2 0 Step 2 1 BalancingArmAssembly 95 Balancing Arm Assembly 95...
Page 98: ...Step 2 2 Step 2 3 96 BalancingArmAssembly 96 Balancing Arm Assembly...
Page 99: ...Step 2 4 Step 2 5 BalancingArmAssembly 97 Balancing Arm Assembly 97...
Page 100: ...Step 2 6 Step 2 7 98 BalancingArmAssembly 98 Balancing Arm Assembly...
Page 101: ...Step 2 8 Step 2 9 BalancingArmAssembly 99 Balancing Arm Assembly 99...
Page 102: ...Step 2 10 Step 2 11 100 BalancingArmAssembly 100 Balancing Arm Assembly...
Page 103: ...Step 2 12 Step 2 13 BalancingArmAssembly 101 Balancing Arm Assembly 101...
Page 105: ...Step 3 0 Step 3 1 BalancingArmAssembly 103 Balancing Arm Assembly 103...
Page 106: ...Step 3 2 Step 3 3 104 BalancingArmAssembly 104 Balancing Arm Assembly...
Page 108: ...Step 4 0 Step 4 1 106 BalancingArmAssembly 106 Balancing Arm Assembly...
Page 109: ...Step 4 2 Step 4 3 BalancingArmAssembly 107 Balancing Arm Assembly 107...
Page 110: ...Step 4 4 Step 4 5 108 BalancingArmAssembly 108 Balancing Arm Assembly...
Page 111: ...Step 4 6 Step 4 7 BalancingArmAssembly 109 Balancing Arm Assembly 109...
Page 112: ...Step 4 8 Step 4 9 110 BalancingArmAssembly 110 Balancing Arm Assembly...
Page 113: ...Step 4 10 BalancingArmAssembly 111 Balancing Arm Assembly 111...
Page 115: ...Step 5 1 Step 5 0 BalancingArmAssembly 113 Balancing Arm Assembly 113...
Page 116: ...Step 5 3 Step 5 2 114 BalancingArmAssembly 114 Balancing Arm Assembly...
Page 117: ...Finished assembly should look like this BalancingArmAssembly 115 Balancing Arm Assembly 115...
Page 124: ......
Page 127: ...Step 1 0 Step 1 1 Self Balancing Robot Assembly 125...
Page 128: ...Step 1 2 Step 1 3 126 Self Balancing Robot Assembly...
Page 129: ...Step 1 4 Step 1 5 Step 1 6 Self Balancing Robot Assembly 127...
Page 131: ...Step 2 0 Step 2 1 Self Balancing Robot Assembly 129...
Page 132: ...Step 2 2 Step 2 3 130 Self Balancing Robot Assembly...
Page 133: ...Step 2 4 Step 2 5 Self Balancing Robot Assembly 131...
Page 135: ...Step 3 0 Step 3 1 Self Balancing Robot Assembly 133...
Page 136: ...Step 3 2 Step 3 3 134 Self Balancing Robot Assembly...
Page 137: ...Step 3 4 Step 3 5 Self Balancing Robot Assembly 135...
Page 138: ...Step 3 6 Step 3 7 136 Self Balancing Robot Assembly...
Page 139: ...Step 3 8 Step 3 9 Self Balancing Robot Assembly 137...
Page 140: ...Step 3 10 Step 3 11 138 Self Balancing Robot Assembly...
Page 141: ...Step 3 12 Self Balancing Robot Assembly 139...
Page 143: ...Partial assembly should look like this Self Balancing Robot Assembly 141...
Page 144: ...Step 4 1 Step 4 0 142 Self Balancing Robot Assembly...
Page 145: ...Step 4 3 Step 4 2 Self Balancing Robot Assembly 143...
Page 146: ...Step 4 5 Step 4 4 144 Self Balancing Robot Assembly...
Page 147: ...Step 4 7 Step 4 6 Self Balancing Robot Assembly 145...
Page 148: ...Step 4 8 Step 4 9 146 Self Balancing Robot Assembly...
Page 149: ...Step 4 10 Self Balancing Robot Assembly 147...
Page 151: ...Step 5 0 Step 5 1 Self Balancing Robot Assembly 149...
Page 152: ...Step 5 2 150 Self Balancing Robot Assembly...
Page 153: ...Finished assembly should look like this Self Balancing Robot Assembly 151...