Uravnoteževanje dvokolesnega robota z uporabo PID krmilnika

diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo

Samo Novak (Author), Rok Vrabič (Mentor)

Abstract

Diplomsko delo predstavlja zasnovo ter izdelavo samostojno uravnoteževanega robota. To je robot, ki se s krmilnim algoritmom uravnotežuje na dveh kolesih in za to uporablja dva aktuatorja, inercialno merilno enoto, kodirnike ter mikrokrmilnik. Predstavljeno je teoretično ozadje, ki temelji na modelu invertiranega nihala kot osnovi za izpeljavo gibalne enačbe robota. Opisane so teoretične osnove izbranih komponent ter proporcionalno-integrirno-diferencirni (PID) algoritem, uporabljen za uravnoteževanje robota. Ta pridobiva povratne informacije o hitrosti robota z rotacijskih kodirnikov ter informacije o naklonu z inercialne merilne enote. Navor za uravnoteževanje je zagotovljen s pomočjo dveh aktuatorjev preko pulzno-širinsko moduliranega (PWM) signala iz krmilnega algoritma. Izdelana je bila konstrukcija robota, programska koda za branje podatkov s posameznih komponent ter krmilni algoritem PID. Uravnoteževanje je bilo testirano pri vožnji naravnost ter glede na vnos motnje v obliki spremembe naklona. Testi so pri optimalni izbiri PID koeficientov pokazali uspešno uravnoteževanje robota pri vožnji ter pri dodajanju motnje v sistem.

Keywords

diplomske naloge;samostojno uravnoteževani roboti;invertirana nihala;dinamika;inercialna merilna enota;PID krmiljenje;

Data

Language:	Slovenian
Year of publishing:	2020
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[S. Novak]
UDC:	007.52:531.3(043.2)
COBISS:	16644099
Views:	542
Downloads:	172
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Balancing of a two wheeled robot with PID controller
Secondary abstract:	This thesis presents the design and construction of a self-balancing robot. A self-balancing robot is a robot, which actively balances itself on two wheels using a control algorithm and with the use of two actuators, an inertial measurement unit, encoders, and a microcontroller. The thesis discusses the theoretical model of inverted pendulum as a basis for deriving the equations of motion of the robot. The thesis also discusses the theoretical basics of the chosen components and the proportional-integral-derivative (PID) control algorithm used for the balancing of the robot. The algorithm is recieving feedback data of the robots speed from rotary encoders and feedback of the robots angular position from inertial measurement unit. The torque needed for correcting the error is applied by two actuators and uses a pulse-width modulated (PWM) signal calculated by the control algorithm. The communication with peripheral components and the control algorithm were realised using an Arduino microcontroller. The dependency of the different PID coefficients on the balancing was tested when driving in a straight line as well as when adding a disturbance in the form of driving terrain angle change. The tests with the optimal PID coefficients confirmed that the robot is successfully balancing in both tests.
Secondary keywords:	self balancing robots;inverted pendulums;dynamics;inertial measurment unit;PID controller;
Type (COBISS):	Bachelor thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za strojništvo
Pages:	XXII, 62 str.
ID:	11648574