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Uravnoteževanje dvokolesnega robota z uporabo PID krmilnika : diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje StrojništvoNovak, Samo, strojnikDiplomsko 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.Type of material - undergraduate thesis ; adult, seriousPublication and manufacture - Ljubljana : [S. Novak], 2020Language - slovenianCOBISS.SI-ID - 16644099
Author
Novak, Samo, strojnik
Other authors
Vrabič, Rok
Topics
diplomske naloge |
samostojno uravnoteževani roboti |
invertirana nihala |
dinamika |
inercialna merilna enota |
PID krmiljenje |
self balancing robots |
inverted pendulums |
dynamics |
inertial measurment unit |
PID controller
Library/institution |
City | Acronym | For loan | Other holdings |
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Faculty of Mechanical Engineering, Ljubljana | Ljubljana | FSLJ |
reading room 1 cop.
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Novak, Samo, strojnik | |
Vrabič, Rok | 30914 |
Source: Personal bibliographies
and: SICRIS
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