Applications for PID Control DC Motors in All-terrain Robots: Theory and Practice

Abstract

This article proposes a control strategy based on dual-loop PID for the motion control of all-terrain mobile robots in complex environments. The research combines theoretical analysis and practical verification to design and implement an innovative dual-loop control system. The experimental platform adopts a spherical all-terrain robot, which achieves all-round motion control through a three-wheel omnidirectional drive structure. The system integrates a balancing loop based on PD control and a speed loop based on PI control, achieving the unity of motion stability and accuracy. The experimental results show that the optimized control system has a steady-state error of less than 1%, a response time of 150ms, and an external disturbance recovery time of no more than 0.5s. The system exhibits excellent adaptability under various terrain conditions and can adapt to a maximum tilt angle of 15 degrees. This study provides a practical solution for high-performance motion control of all-terrain mobile robots and has important reference value for developing autonomous robot systems.