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The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
The magic behind self balancing robot ver1.2
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The magic behind self balancing robot ver1.2

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專題的動機來自於 Dean Kamen 發明的兩輪電動代步車 ~ Segway。當人踏在上面時,可以自動平衡保持直立,且會根據整體重心的改變而產生前進或後退的靈活移動。因停靠方便、外型酷炫、操作容易,在歐美地區已造成一股流行。 …

專題的動機來自於 Dean Kamen 發明的兩輪電動代步車 ~ Segway。當人踏在上面時,可以自動平衡保持直立,且會根據整體重心的改變而產生前進或後退的靈活移動。因停靠方便、外型酷炫、操作容易,在歐美地區已造成一股流行。

主要的目標是完成一具有自我維持平衡能力的兩輪機器人,[組立示意圖]見Figure.1。我們以微控器 STMicroelectronics STM32-F3 (ARM Cortex-M4 core @72MHz ) 當作開發平台,左、右兩輪各搭配有齒輪箱的直流馬達,底板正中央放置慣性感測元件,最上層安裝可充電式電池組 。藉由Accelerometer 和 Gyroscope分別量測車身的傾斜角&角速度,並利用Encoder量測馬達轉動的位置或速度,根據前三者加總的即時資訊當成PID控制器的輸入,建立兩輪車各種模式的狀態;經運算後再以PWM訊號和驅動器輸出調整馬達轉速,使機器人具備平衡、同步、定速定位、前進/後退、左右轉彎等功能。 第一階段為實現保持動態平衡以及兩輪同步操作、第二階段為實現藍芽遙控的前進/後退和差速轉向。過程中整合了感測物理量的擷取、Kalman濾波器的訊號處理、馬達驅動&控制的技術,充份地展現了韌體&硬體的緊密結合

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  • 1. 作 和實 研究 稱 的 題名 機器人 ehind bot 專 b o 平衡 Magic cing R 自 The lf-Balan Se :        專案組員:吳 0 馨、張 0 宜、蔡 0 亮、黃 0 源、鄭 0 元 2013/9
  • 2. Outline • • • • • • • • 開發演進史 系統架構圖 電路接線圖 Gyroscope & Accelerometer illustration Kalman Filter explained Motor, Encoder & Driver illustration PID controller explained 心得分享 & 成員介紹
  • 3. 開發演進史 Inverted Pendulum Self-balancing Robot SegWay
  • 4. 系統架構圖
  • 5. 電路接線圖 (1)
  • 6. 電路接線圖 (2)
  • 7. Accelerometer illustration
  • 8. Gyroscope illustration
  • 9. Kalman filter explained
  • 10. Kalman filter algorithm
  • 11. Kalman filter Signal Flow Graph
  • 12. Kalman filter example
  • 13. Motor Driver illustration
  • 14. Motor & its Encoder illustration
  • 15. PID controller explained
  • 16. Characteristics of P, I and D controll
  • 17. Cascaded PID control loops
  • 18. i ve L o@ De m ooth B

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