Controle PID baseado no método Ziegler-Nichols para sincronização de motores em plataforma robótica diferencial

Abstract

This work presents the development and implementation of a Proportional-Integral-Derivative (PID) controller system based on the Ziegler-Nichols method for motor synchronization in a low-cost differential robotic platform. The project covers everything from the experimental identification of the motor plant to the implementation of autonomous navigation using the Robot Operating System (ROS). Initially, a dynamic characterization of the direct current (DC) motors was carried out to obtain fundamental parameters (static gain, time constant, and dead time), allowing modeling as first-order systems. Based on these parameters, a PID controller was implemented with tuning based on the Ziegler-Nichols method, followed by an experimental refinement process to improve dynamic response. The control system was integrated into a complete autonomous navigation structure using ROS, including encoder-based odometry, mapping with Simultaneous Localization and Mapping (SLAM), and navigation. The analysis of the results included both time-domain and spectral performance studies, demonstrating that proper motor synchronization is essential for accurate navigation. Experimental tests validated the effectiveness of the approach, showing that the developed platform, with an approximate cost of R$ 1,500.00, achieves performance comparable to more expensive commercial solutions in educational applications. The successful integration between low-level control and high-level algorithms demonstrates the feasibility of creating affordable robotic platforms for education and research in mobile robotics