magistrsko delo
Janez Turk (Author), Andrej Sarjaš (Mentor)

Abstract

Stabilizacija robota na žogi je dvodimenzionalen problem inverznega nihala (Segway). V magistrskem delu je opisana izdelava strojnega dela robota (konstrukcije in vezja), načrtovanje vseh uporabljenih algoritmov ter potek programa v digitalnem signalnem procesorju. Glavni problem, ki smo se mu najbolj posvetili, je slab podatek o nagibu, ki ga pridobimo z zlivanjem senzorskih podatkov giroskopa in pospeškometra. Za izboljšanje delovanja je še veliko rezerve pri načrtovanju regulatorjev. Poleg samostojnega načina delovanja omogoča robot tudi vodenje s pametnim telefonom preko bluetooth povezave.

Keywords

inverzno nihalo;stabilizacija;polinomska sinteza;komplementarni filter;Kalmanov filter;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: J. Turk
UDC: 004.896:007.52(043.2)
COBISS: 19994646 Link will open in a new window
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Downloads: 382
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Other data

Secondary language: English
Secondary title: BALLBOT CONTROL AND KALMAN FILTER
Secondary abstract: The Ballbot control is two-dimensional problem of inverted pendulum (Segway). Thesis describes hardware, designing of real time algorithms and program flow in digital signal processor. The main and the most researched problem was imperfect orientation data, obtained from accelerometer and gyroscope with data fusion algorithm. There is still room for improvement concerning control algorithms. The robot has two modes of operations; free mode with tilt stabilization and remote control with android application via Bluetooth module.
Secondary keywords: inverted pendulum;stabilization;pole placement;complementary filter;Kalmanov filter;
URN: URN:SI:UM:
Type (COBISS): Master's thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages: XI, 66 str.
ID: 9166804