It is self made 3 axis auto stabilizing platform project based on Arduino board. and using MPU-6050 gyroscope.
Auto Stabilizing Platform consists of platform which is balanced by movement of three servo motors in opposite direction to the movement of the platform.
Cara Menggugurkan Sperma Yang Masuk Rahim Biyar Tidak Hamil
Three axis auto stabilizing video camera platform
1. THREE-AXIS AUTO STABILIZING
VIDEO CAMERA PLATFORM
TRAINING AT : CENTRAL ELECTRONICS ENGINEERING RESEARCH INSTITUTE, PILANI
PRESENTED BY
EKLAVYA SHARMA
12EBKEE031
3. OBJECTIVE
To demonstrate the techniques involved in balancing a platform.
To work on precise movements and accurate control of platform
using filtering process.
To understand the working of MPU-6050.
To communicate with the microcontroller.
Establishing lines of communication.
To establish the power supply to each electronic components.
4. INTRODUCTION
Auto Stabilizing Platform consists of platform which is balanced
by movement of three servo motors in opposite direction to the
movement of the platform.
The intent of the platform design is to maintain the platform at
an initially selected angle while the support structure orientation
changes.
9. COMPONENTS
1. MPU-6050 (MEMS Accelerometer and MEMS Gyro)
2. Arduino Platform
3. Arduino IDE
4. DC Servo Motors (SG90)
5. Power Supply
10. MPU-6050
The InvenSense MPU-6050 sensor contains a MEMS
accelerometer and a MEMS gyro in a single chip.
The MPU-6050 is installed just below the top platform through
which the tilt angle is being measured.
12. ARDUINO PLATFORM
The Arduino platform is an open source electronic prototyping
system.
Arduino is meant to be used as a physical computing platform.
Arduino builds on this by adding simplicity to the hardware
interface and an easy to use software package.
13. ARDUINO IDE
The open-source Arduino Software.
Used to create the programs, called “Sketches”.
Modified C language compiler.
15. DC SERVO MOTORS
There are three servo motors in the auto stabilizing platform
which are used to balance each axes namely yaw, pitch and roll.
Pulse Width Modulation
19. FLOW CHART
Read MPU-
6050
Convert Radian
to Degrees
Kalman Filter
Transform
Angle of Tilt to
Servo Angle
Transform
Servo Angle to
Servo Pulse
Transmit the
Angle Signal to
Servo
MAIN LOOP
Initialize Servo
Libraries
Initialize MPU-6050
Initialize All
Variables
Assign Hardware
Pins
20. KALMAN FILTER
It is an algorithm which uses a series of measurements observed
over time.
The Kalman filter operates recursively on streams of noisy input
data to produce a statistically optimal estimate of the underlying
system state.
We can only trust the gyroscope on a short term while you can
only trust the accelerometer on a long term.
21. FREE ARDUINO LIBRARIES
MPU-6050 library - Implements sensor fusion.
Free Kalman Filter Library – Used to Combine Gyroscope and
Accelerometer values.
22. CODING IMPLEMENTATION
Keep the Gyroscope level
Kalman Filtering
Communication using standard I2C protocol
Pulse-Width Modulation (for analog)
Use serial data to communicate the speed and direction of the
motors
23. TESTING AND RESULTS
The testing is meant to determine the accuracy of the leveling
capability of the platform when aligned parallel to the surface of
the earth.
The results of the testing proved that the platform design
functioned as designed and intended.
24. Conclusion
The platform was designed using inexpensive materials, Perspex
and aluminum sheet metal, controlled by an open source
Arduino microcontroller, MPU-6050, and three servos.
There are many performance improvement opportunities that
can be implemented with simple modifications to hardware and
software.