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マイクロマウスの製作と速度制御系設計
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去年大学の講義で発表したやつ
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マイクロマウスの製作と速度制御系設計
1.
マイクロマウスの製作と 速度制御系設計
2.
プロジェクト内容 • 趣味で製作しているマイクロマウスのソフトウェア開発を行う。 • 走行の要となるDCモータ制御を行うため、速度制御系を設計する。 •
フィードフォワード制御系、PID制御系、2自由度制御系を設計しそれらの制御性能 を比較する。 2
3.
マイクロマウスとは? • ロボットに自律的に迷路を探索させ、ゴールに達する時間を競う競技。そ のロボットの名称。 3
4.
ハードウェア仕様 • マイコン RX220(ルネサス社) •
DCモータ SCR13-2005(シチズンマイクロ社) • 壁センサ SFH4550&ST-1Kl3A • 2輪駆動 4
5.
• 基板作成 EAGLE(Autodesk社)で設計→Elecrowに発注 •
車輪&モーターマウント作成 Fusion360(Autodesk社)→DMMMake で3Dプリント 5
6.
左右のモータに同じ電圧をかけてみる 6
7.
7
8.
直進させるための必要条件 • 両輪を同じ速度で回転させる。→ 速度制御が必要。 •
加速減速時スリップしないようにする。→ 加速度制御が必要。 目標の速度と加速度になるように、モータの電圧を制御する。 8
9.
DCモータの特性 • 回転数に比例して逆起電圧が発生する • 電流に比例したトルクを出力する 9
10.
与えたい加速度、速度から電 圧を求める • モータの巻き線抵抗を𝑅、逆起電力を𝑉 𝑟とするとモータにか かる電圧𝑉は 𝑉 =
𝐼𝑅 + 𝑉 𝑟 • モータの電圧定数を𝑘𝑒、回転数(速度)を𝜔とすると逆起電圧 𝑉 𝑟は 𝑉 𝑟 = 𝑘𝑒ω • モータのトルク定数を𝑘𝑚、目標トルクを𝑇とすると電流𝐼は 𝐼 = 𝑇 𝑘𝑚 𝑣𝑟 = 𝑘𝑒𝜔 10
11.
加速度からトルクを求める • 車体の重量を𝑚、タイヤの半径を𝑟、加速度𝛼、転がり抵抗𝐹とすると、 1つのタイヤにかかるトルク𝑇𝑛は 𝑇𝑛 = 𝑚𝛼+𝐹 2 𝑟 •
モータが出力すべきトルク𝑇は減速比をηとすると 𝑇 = 𝑇𝑛 𝜂 11
12.
• 𝑉 = 𝑚𝑟𝑅 2𝜂𝑘𝑚 𝛼
+ 𝑘𝑒𝜔 + 𝐹𝑟𝑅 2𝜂𝑘𝑚 • 加速度、速度から電圧を求めることができた • フィードフォワード(FF)制御 12
13.
静止摩擦力が大きいため、始動が遅れていると考えられる。 静止摩擦力の補償は非線形となり、外乱オブザーバ等を用いなくてはい けないため今回は見送った。 13
14.
PID制御 • P(比例制御)、I(積分制御)、D(微分制御)からなる制御方法。 • 目標値と実際の値の偏差が小さくなるように出力を調整する働きをす る。 •
PIDゲインを調節することで、速やかに目標値に追従する。 14
15.
15
16.
P制御のみ 定常偏差が生じる I制御のみ 速応性が悪い PI制御
定常偏差無く、速応性も良い 16
17.
PID制御のデメリット • PIDゲインの調節がシビア。タイヤやギアの埃で不安定になったりする。 • ゲインを下げ過ぎると、速応性が悪くなる。 17
18.
2自由度制御(FF+FB制御) • PID制御における操作量を減らせば不安定になりにくい。 • FFによる制御の後、目標値との偏差を取りFBによって追従させる。 18
19.
19
20.
等速運動時の行き過ぎ量が改善された 20
21.
21
22.
まとめ • マイクロマウス走行の要となるDCモータ制御系を設計しそのための制 御ソフトウェアを作成した。 • FF制御とPID制御を両方用いた2自由度制御系により、追従性能を向上 させることができた。 •
今回の制御では直進のみのため、回転させることができない。今後回 転させるための制御系を組みたい。 22