Modeling of the control system to optimize the displacement of an omnidirectional single-seater with Mecanum wheels.

Abstract

The study proposes the optimization of an omnidirectional single-seater with Mecanum wheels with respect to their displacement, through the implementation of an adaptive electronic control system. The torque and speed required for the displacement are defined by the weight, center of mass and radius of the wheel. The control elements, data processing and user interaction were implemented to work in sync with a brushless motor (BLDC). The communication between components was done through the control algorithm developed on the Arduino platform. This microcontroller interprets voltage signals generated by a Joystick, processes them with the kinematic model and sets the rotation speed in each wheel, through the pulse width variation (PWM). To validate it, displacement tests were carried out on two types of surfaces: asphalt and concrete, with trajectory deviations at different speeds. Consequently, a mathematical model with correction factor was determined. This model fed back to the control algorithm, showing optimized stabilization, displacement and trajectory tracking of the single-seater.