In this lab we will be experimenting with practical PID control applications. In particular, we will concern ourselves with controlling the speed of a DC motor using both the output of the encoder, and an accelerometer.
For this lab we will reference our PID control to the throttle vale position. The throttle control is what determines a car’s acceleration and is tied to the angle in which the gas pedal is situated. To begin we will showcase different scenarios with varying PID control. We will discuss which levels of PID control correspond to the most desired response. Next we will introduce an accelerometer to our system.
The accelerometer feeds into a MatLab function that also takes into account the current speed of our motor. The two in combination we be feed back into our DC motor controller. Our accelerometer will be able to determine if our motor is accelerating uncontrollably.