DC Motor ROS Package

This package is written for Simulation and Hardware Implementation of DC motor control in ROS Melodic. Using the Method of Lumped Parameter Modelling of DC motor and PID controller Design with ROOT LOCUS and 2nd Order Standard Differential Equation. [For Mom!]

Requirement

• ROS Melodic
• rosserial

Installation

Install Project

Create workspace ➡ Clone project ➡ Compile ➡ Source .bashrc

mkdir -p ws_dcmotor/src
cd ws_dcmotor/src
git clone https://github.com/Phayuth/ros_dcmotor.git
cd ..
catkin_make
source ~/ws_dcmotor/devel/setup.bash

Install rosserial (MAKE SURE TO SOURCE PROJECT, SO THAT THE CUSTOM MSG CAN COMPILE FOR ROSSERIAL)

sudo apt-get install ros-melodic-rosserial-arduino
sudo apt-get install ros-melodic-rosserial

cd ~/Arduino/libraries
rm -rf ros_lib
rosrun rosserial_arduino make_libraries.py .

Simulation

• Run node rosrun ros_dcmotor motor_linear_node for Linear Model
• Run node rosrun ros_dcmotor motor_nonlinear_node for Nonlinear Model
• Use rqt to publish /voltage to get rotation velocity

Hardware

• Change Lumped Parameter model a,b,c in arduino file
• For Motor Driver with PWM pin and Direction pin type : Upload ros_dcmotor_hw/arduino/arduino_direct.ino code to Arduino
• For Motor Driver with both PWM pins type (IBT2) : Upload ros_dcmotor_hw/arduino/arduino_ibt.ino code to Arduino
• Bringup Node roslaunch ros_dcmotor_hw bringup.launch
• Publish Desired Velocity on /motor_desired topic

Reference

• Lumped Parameter Estimation of a Low Cost DC Motor for Position Controller Design : https://ieeexplore.ieee.org/document/9807810
• PD Controller and Dynamic Compensation Design for a DC Motor based on Estimated Parameters : https://ieeexplore.ieee.org/document/9807796
• rosserial setup : http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup