diplomsko delo
Erik Voh (Author), Riko Šafarič (Mentor), Aleš Belšak (Mentor), Jurij Rakun (Co-mentor)

Abstract

Diplomsko delo opisuje potek razvoja vmesnika za vodenje BLDC motorjev. V začetku dela je predstavljen robot Farmbeast in motorji, ki jih uporablja. Nato je predstavljen razvoj vmesnika, od načrtovanja in izdelave tiskanega vezja, algoritma za mikrokrmilnik do načrtovanja ohišja. Na vmesnik lahko priključimo do dva brezkrtačna enosmerna motorja s pripadajočimi Hall-ovimi senzorji, preko katerih sistem zazna vrtenje motorja in nato nadzira njegovo hitrost. Možna je priključitev tudi dodatnih senzorjev ali drugih naprav ter krmilnikov preko prostega priključka za I2C protokol. Na razvitem vmesniku smo testirali, kako hitro je zmožen sprejemati poslane zahtevke iz računalnika, ali je možno iz njega dobiti podatke o prevoženi razdalji ter ali je zmožen dovolj hitro zajemati podatke iz senzorjev in jih obdelovati. Ker z vmesnikom komuniciramo preko UDP protokola, ga je možno povezati tudi v Robotski operacijski sistem ROS. Na koncu testiranja smo ugotovili, da je primeren za uporabo na robotu Farmbeast.

Keywords

operacijski sistem ROS;BLDC motorji;mikrokrmilnik ESP32;robot Farmbeast;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: [E. Voh]
UDC: 004.5:621.313.2(043.2)
COBISS: 86826755 Link will open in a new window
Views: 245
Downloads: 32
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Other data

Secondary language: English
Secondary title: Development of an interface for controlling BLDC motors
Secondary abstract: The diploma thesis describes the development of the interface for controlling BLDC motors. At the beginning of the work, the Farmbeast robot and the motors it uses are presented. Then, the development of the interface is presented, the design and fabrication of the printed circuit board, the algorithm for the microcontroller and the design of the housing. Up to two brushless DC motors with associated Hall sensors can be connected to the interface, through which the system detects the rotation of the motor and then monitors its speed. It is also possible to connect additional sensors or other devices and controllers via a free connector for the I2C protocol. On the developed interface, we tested how fast it is able to receive sent requests from a computer, whether it is possible to obtain distance data from it, and whether it is able to capture data from sensors and process it fast enough. Because we communicate with the interface via the UDP protocol, it is also possible to connect it to the ROS Robotic Operating System. At the end of testing, we found it to be suitable for use on a Farmbeast robot.
Secondary keywords: ROS;BLDC motor;ESP32;Farmbeast;
Type (COBISS): Bachelor thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Mehatronika
Pages: IX, 51 str.
ID: 13391704