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DC Motor controller with estimator and New track with optimal trajectory for ORCA


Celestine DŁnner, S. Merkli

Semester Group Project, FS 12 (10145)

In this group work, a new track was designed and built for the ORCA racing project. Steps were taken to make it more appealing than the old track as well as more exciting for humans to control cars on the track. A least-curvature trajectory was calculated using existing tools, as well as the speed pro le tested and tuned. An estimator and controller for the newly emerging embedded platform was designed, implemented and simulated, allowing for o set-free current control of the DC motors in the cars. In addition to a reference implementation in MATLAB code, an ANSI C implementation was written and successfully tested against the reference. In the end, the ANSI C implementation was generalized for arbitrary plants to provide a basis for further projects.


Type of Publication:

(16)Semester Group Work

A. Domahidi

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