Embedded Files
Closed-Loop Control System Field Test
Overview
As an undergraduate researcher at the Purdue Multi-Scale Robotics and Automation lab, I upgraded the gate deployment mechanism for a mobile agricultural robot "Mothership" trailer by replacing a static, timer-based open-loop system with a dynamic closed-loop control system. This upgrade allowed the trailer to autonomously detect ground proximity and adapt to uneven off-road terrain, ensuring reliable gate releases for the robot fleet.
Wing - Wing Box Snap Fit Fastening Concept
Final Wing Box/Snap-Fit Assembly
Sensor and Control Board Mounted on Trailer
Process
Process
Hardware Integration:
Selected and integrated an RCWL-1655 Ultrasonic Sensor for accurate ground detection
Routed and soldered customized wiring across the trailer chassis to connect sensor to main microcontroller.
Mechanical Design:
Utilized SolidWorks to engineer custom flanged mounts and protective caps to securely clamp the sensor module and its control board to the trailer's gate and vertical railing.
3D printed custom designs using BambuLab
Embedded Systems Programming:
Programmed the trailer's ESP32 microcontroller using the Arduino IDE to trigger ultrasonic pulses and calculate distance based on wave reflection times.
Control Logic Implementation:
Designed robust control structures incorporating a 3-count debouncing mechanism to filter out sensor noise and a 1-second delay to prevent premature gate stoppages on rough, uneven terrain.
Validation & Field Testing:
Successfully validated the closed-loop system through practical field tests on concrete surfaces, grassy farm paths, and simulated severe terrain obstacles.
Open Sensor Mount
Open Control Board Mount
Sensor Mount on Trailer
Control Board Mount on Trailer
Page updated
Google Sites
Report abuse