Izdelava pokončnega dvokolesnega mobilnega robota z ARM mikrokrmilnikom

diplomsko delo

Marko Marguč (Author), Aleš Hace (Mentor)

Abstract

V delu je predstavljena izdelava pokončnega dvokolesnega mobilnega robota. V diplomskem delu so definirane zahteve za posamezne komponente, opisane so tudi glavne lastnosti izbranih komponent. Dinamični model tega robota je podoben modelu invertiranega nihala, ki ga okarakterizira nestabilna pokončna lega, nelinearnost in sklopljenost koordinat, zato je regulacija takšnega sistema zahtevna. Uporabili smo robustno regulacijsko shemo, ki je bila zasnovana po metodi vodenja v drsnem režimu. Poleg tega je v delu opisano merjenje kota naklona z žiroskopom in pospeškometrom. Predstavljena je metoda za fuzijo senzorjev s komplementarnim filtrom, ki uporablja modificirano obliko diskretnega alfa beta sledilnika. Opisana je tudi programska oprema ter implementacija na mikrokrmilniku ARM. Na koncu so predstavljeni še rezultati meritev in komentar celotnega dela s predlogi izboljšav.

Keywords

pokončni dvokolesni mobilni roboti;mobilni roboti;alfa beta filtri;ARM mikrokrmilniki;žiroskopski senzorji;inercialni pospeškomer;fuzija senzorjev;komplementarni filtri;STM32 F3;

Data

Language:	Slovenian
Year of publishing:	2013
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[M. Marguč]
UDC:	004.4:681.5(043.2)
COBISS:	17525526
Views:	1432
Downloads:	198
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	REALIZATION OF A TWO-WHEELED UPRIGHT MOBILE ROBOT BASED ON ARM MICROCONTROLLER
Secondary abstract:	This thesis presents the implementation of a two-wheeled upright mobile robot. The requirements of each component are defined, and the main attributes of selected components are described. The dynamic model of this robot is similar to the model of an inverted pendulum, characterized by its unstable upright position, nonlinearity and the relationship of coordinates, making the control of such a system very demanding. We utilized a robust control scheme based on sliding mode control. The paper describes methods of measuring the tilt angle with a gyroscope and an accelerometer. The paper also introduces a method of sensor fusion with a complementary filter that uses a modified version of an alpha beta tracker. The software packages used and the implementation on an ARM microcontroller are also briefly described. At the end we included the measurement results and a commentary on the entire paper with suggestions for further upgrades.
Secondary keywords:	two-wheeled upright mobile robot;alpha beta filter;ARM microcontroller;gyroscope;inertial accelerometer;sensor fusion;complementary filter;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages:	X, 65 str.
ID:	8725835