Voice control of tennis throwing machine via arduino using PID and LQR controllers

With the development of technology and its involvement in the sports field, training with a machine has become widely spread in all kinds of sports, including tennis, where the player always seeks to improve his skills and acquire new blocking techniques, and all training methods agree that repeated training on specific points and distances for the ball improves the level of the player and through the machine, training is done by repetition on the specified points without the need for a partner. Several studies have already been conducted on this device, and it was created and presented in the market. however, through this work, the machine will be modified through the presence of some differences, as the voice control technology has been added to train on certain points, unlike random training. voice messages are sent using a smartphone and will translate into signals in the presence of the Arduino. and because the direct current motors are the machine's basic devices, the emphasis was on speed control methods, and the proportional integral control and the linear-quadratic regulator control were used. Proteus 8 professional was used for simulation on the theoretical side, arduino code was written using the programming language arduino, MATLAB simulation for tuning controllers, and results were obtained showing the performance of the controller in different scenarios and deducing which is more appropriate. The circuit was built and tested using arduino mega and H-Bridge motor driver with arduino ide to prove the performance of the controllers and the results were on the motors as the speeds were regulated in a variety of situations. the Android applications were created using the mit app inventor Through it, voice messages are sent. Keywords: Proportional Integral controller, Linear-Quadratic Regulator controller, H-bridge, Arduino, Hall magnetic sensor, Bluetooth H-05.