scholarly journals Control Unit for a Two-Wheel Self-Balancing Robot

2019 ◽  
pp. 7-12
Author(s):  
D.P.V.J. Jayakody ◽  
K.P.G.C. Sucharitharathna
Keyword(s):  
Real Time ◽  
Control Unit ◽  
The Self ◽  
Transportation Industry ◽  
Safety Issues ◽  
Global Issues ◽  
Optimum Algorithm ◽  
Price Range ◽  
Reduction Methods ◽  
Balancing Robot

A self-balancing personal transporter which is based on the inverted pendulum concept has sufficient potential to provide solutions for the upcoming global issues in the transportation industry. However due to the expensive price range which the self-balancing scooters are introduced at and few safety issues, this concept has failed in reaching the hands and becoming popular among the majority of the society. Therefore this research paper consists of a comprehensive literature review on the existing models of the self-balancing transporter scooters, possible ways to reduce the initial cost of implementing a control unit for self-balancing transporter vehicles and methods to address the issues which generate along with the proposed cost-reduction methods. Real-time comparison of Kalman and Complementary filtering processes are performed to sort out the optimum algorithm to estimate the true angle of the inclination of the self-balancing prototype. Similarly several forms of control system implementation are compared through simulations and real-time experiments to obtain the ideal motor response for variations in the position of the prototype.

Design of Electromagnetic Smart Car System

2011 ◽  
Vol 130-134 ◽  
pp. 343-346
Author(s):  
Meng Jun Ye ◽  
Chang Hui Hu
Keyword(s):  
Real Time ◽  
Control Unit ◽  
The Self ◽  
Position Sensor ◽  
Sensor Unit ◽  
The Core ◽  
Electromagnetic Sensor ◽  
Forward Looking

The document introduces the self-tracing smart car system based on Fressscale MC9S12XS128 as the core control unit. Focus on the design of electromagnetic sensor unit, describe in detail differential electromagnetic sensor unit and position electromagnetic sensor unit, and then describe the speed adjusting system. Test shows that smart car based on position sensor unit have good forward-looking, real-time and accurate response.

scholarly journals Ferro-self-assembly: magnetic and electrochemical adaptation of a multiresponsive zwitterionic metalloamphiphile showing a shape-hysteresis effect

2021 ◽  
Vol 12 (1) ◽  
pp. 270-281
Author(s):  
Stefan Bitter ◽  
Moritz Schlötter ◽  
Markus Schilling ◽  
Marina Krumova ◽  
Sebastian Polarz ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Light Scattering ◽  
Dynamic Light Scattering ◽  
Real Time ◽  
Self Assembly ◽  
Hysteresis Effect ◽  
The Self ◽  
Self Organization ◽  
Stimuli Responsive ◽  
Optical Birefringence

The self-organization properties of a stimuli responsive amphiphile can be altered by subjecting the paramagnetic oxidized form to a magnetic field of 0.8 T and monitored in real time by coupling optical birefringence with dynamic light scattering.

Research on Control Power and Self-Sensing Technology for GMM Self-Sensing Actuator

2010 ◽  
Vol 34-35 ◽  
pp. 1314-1318
Author(s):  
Xin Hua Wang ◽  
Shou Qiang Hu ◽  
Qian Yi Ya ◽  
Shu Wen Sun ◽  
Xiu Xia Cao
Keyword(s):  
Real Time ◽  
High Speed ◽  
Dynamic Balance ◽  
The Self ◽  
Time Dynamic ◽  
Scheme Design ◽  
Control Power ◽  
Sensing Technology ◽  
The Cost ◽  
Micro Controller Unit

Structure and principle of a new kind of diphase opposition giant magnetostrictive self-sensing actuator (SSA for short) is introduced, for which a kind of double outputs high-precision NC stable voltage power is designed. With the method of combining with the hardware design and the software setting, the controllability and reliability of the actuator are greatly improved. And the whole design becomes more reasonable, which saves the cost and improves the practicability. In addition, based on the micro controller unit (MCU) with high-speed control, the scheme design of the real-time separation circuit for dynamic balance signal can effectively identify out and pick up the self-sensing signal which changes from foreign pressure feed back. Then the SSA real-time, dynamic and accurately control is realized. The experiment results show that the voltage power can high-speed and accurately output both output voltages with high current, and that the self-sensing signal decoupling circuit can isolate the self-sensing signals without distortion

scholarly journals Arduino based platform for process control learning

2020 ◽  
Vol 6 (5) ◽  
pp. 0585-0593
Author(s):  
Bruna Couto Molinar Henrique ◽  
Leonardo Couto Molinar Henrique ◽  
Humberto Molinar Henrique
Keyword(s):  
Open Source ◽  
Real Time ◽  
Low Cost ◽  
Control Unit ◽  
Absolute Error ◽  
Internal Model Control ◽  
Pid Controllers ◽  
Experimental Unit ◽  
Source Codes ◽  
Model Control

This work deals with implementation of an experimental flowrate control unit using free and low-cost hardware and software. The open-source software Processing was used to develop the source codes and user graphical interface and the open-source electronic prototyping platform Arduino was used to acquire data from an experimental unit. Work presents descriptions of the experimental setup, the real-time PID controllers used and theoretical/conceptual issues of Arduino. PID controllers based on internal model control, minimization of the integral of time-weighted absolute error, Ziegler-Nichols, and others were tuned for setpoint and load changes and real-time runs were carried out in order to make real-time use of  control theory learned in academy. Results showed the developed platform proved to be suitable for use in experimental setups allowing users compare their ideas and expectations with the experimental evidence in a real and low-cost fashion. In addition, the instrumentation is simple to configure with acceptable level noise and particularly useful for control/automation learning with educational purposes.

Simulation of a New Self-Structured Fuzzy Controller Applied to a Temperature Control Process

2013 ◽  
Vol 4 (3) ◽  
pp. 47-57
Author(s):  
Rafik Lasri ◽  
Ignacio Rojas ◽  
Héctor Pomares ◽  
M. Nemiche
Keyword(s):  
Real Time ◽  
Temperature Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Control Process ◽  
The Self ◽  
Fuzzy Controllers ◽  
Current State ◽  
Internal Parameters

A new methodology of Fuzzy Controllers that can change the internal parameters of the controller in real time is presented in this paper. The Self-structured algorithm is able to adapt their rules consequents and re-organize their MFs in real time according to the current state of the controlled plant. Via a simulation of a temperature control process, the authors have proved and demonstrated the effectiveness and usefulness of their control algorithm compared to a conventional FLC under the same condition and using the same Simulated plant.

scholarly journals A Control-Oriented Engine Torque Online Estimation Approach for Gasoline Engines Based on In-Cycle Crankshaft Speed Dynamics

Energies ◽  
2019 ◽  
Vol 12 (24) ◽  
pp. 4683
Author(s):  
Qiang Tong ◽  
Hui Xie ◽  
Kang Song ◽  
Dong Zou
Keyword(s):  
Real Time ◽  
Engine Speed ◽  
Estimation Error ◽  
Control Unit ◽  
Friction Torque ◽  
Adaptive Observer ◽  
Load Torque ◽  
Engine Torque ◽  
Brake Torque ◽  
Torque Estimation

Engine brake torque is a key feedback variable for the optimal torque split control of an engine–motor hybrid powertrain system. Due to the limitations in available sensors, however, engine torque is difficult to measure directly. For torque estimation, the unknown external load torque and the overlap of the expansion stroke between cylinders introduce a great disturbance to engine speed dynamics. This makes the conventional cycle average engine speed-based estimation approach unusable. In this article, an in-cycle crankshaft speed-based indicated torque estimation approach is proposed for a four-cylinder engine. First, a unique crankshaft angle window is selected for load torque estimation without the influence of combustion torque. Then, an in-cycle angle-domain crankshaft speed dynamic model is developed for engine indicated torque estimation. To account for the effects of model inaccuracy and unknown external disturbances, a “total disturbance” term is introduced. The total disturbance is then estimated by an adaptive observer using the engine’s historical operating data. Finally, a real-time correction method for the friction torque is proposed in the fuel cut-off scenario. Combining the aforementioned torque estimators, the brake torque can be obtained. The proposed algorithm is implemented in an in-house developed multi-core engine control unit (ECU). Experimental validation results on an engine test bench show that the algorithm’s execution time is about 3.2 ms, and the estimation error of the brake torque is within 5%. Therefore, the proposed method is a promising way to accurately estimate engine torque in real-time.

scholarly journals Development of Embedded Boot Software for a Satellite Instrument Control Unit: Lessons Learned

2019 ◽  
Vol 2019 ◽  
pp. 1-8
Author(s):  
Jesús Fernández-Conde ◽  
Jaime Gómez-Saez-de-Tejada ◽  
David Pérez-Lizán ◽  
Rafael Toledo-Moreo
Keyword(s):  
Real Time ◽  
European Space Agency ◽  
Control Unit ◽  
Lessons Learned ◽  
System Failure ◽  
Application Software ◽  
Satellite Mission ◽  
Space Agency ◽  
Expected Performance ◽  
Instrument Control

A satellite spacecraft is generally composed of a central Control and Data Management Unit (CDMU) and several instruments, each one locally controlled by its Instrument Control Unit (ICU). Inside each ICU, the embedded boot software (BSW) is the very first piece of software executed after power-up or reset. The ICU BSW is a nonpatchable, stand-alone, real-time software package that initializes the ICU HW, performs self-tests, and waits for CDMU commands to maintain on-board memory and ultimately start a patchable application software (ASW), which is responsible for execution of the nominal tasks assigned to the ICU (control of the satellite instrument being the most important one). The BSW is a relatively small but critical software item, since an unexpected behaviour can cause or contribute to a system failure resulting in fatal consequences such as the satellite mission loss. The development of this kind of embedded software is special in many senses, primarily due to its criticality, real-time expected performance, and the constrained size of program and data memories. This paper presents the lessons learned in the development and HW/SW integration phases of a satellite ICU BSW designed for a European Space Agency mission.

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