Question

Can someone please rephrase this paragraph below , thank you with a THUMBS UP!

"The system is designed with a step input, which is processed in the control loop containing the
PID and the motor. The PID is tuned analytically to obtained the optimal performance of the
entire system. It was expected that the rover would have a precise continues execution. Even
though, this stood correctly for each wheel, the system as a whole did not act according to its
expected behavior, which is traveling in a straight line. Therefore, a synchronized motor
algorithm was set in place to synchronize the action of both motors. The synchro-motor
algorithm was tested on Simulink and experimentally. Although both tests showed unsatisfactory
results. The wheels of the rover jerked and struggled to keep at a constant, synchronized motion
with respect to one another. The Simulink results suggested accumulation of error and lack of
ability to correct foreseeable errors. Therefore, a PID was implemented"

Answer 1

A step input is used to design the system. The stpe input is processed in the control loop which contains the PID and the motor. The PID is tuned in such a way that it analytically obtains the entire system's optimal performance. The rover was expected to have an accurate continuous execution.

The expected behaviour of the system was to travel in a straight line, and though it stood correctly on each wheel, the system failed to do what it was meant to. A synchronized motor algorithm was then set to monitor and correctly harmonize the actions of both motors.

The sychro-motor algorithm was tested on Simulink, but both tests showed unsatisfactory results. The wheels of the rover were unsychronized and failed to keep constant motion with respect to each other.

The results of the Simulink experiment suggested that there was an accumulation of errors and there would in fact be a lack of ability to correct forseeable errors. A PID was therefore a necessary implementation.