Design of the Two-Wheeled Self-Balance Vehicle

2016 ◽  
Vol 851 ◽  
pp. 449-452
Author(s):  
Yang Hua ◽  
Zi Jian Yang
Keyword(s):  
Angular Velocity ◽  
Fusion Algorithm ◽  
Pid Algorithm ◽  
Dc Motors ◽  
Software Filtering ◽  
Motion Mode

Through the analysis of the motion mode of the two-wheel self-balance vehicle, a system of a two-wheel self-balance vehicle is presented in this paper. This system takes the chip STM32 as the controller, and it uses the MPU-6050 to collect the acceleration and angular velocity date of the vehicle. Then using the software filtering and quaternion fusion algorithm to know the motion of the vehicle. The MCU handles the data through combining PID algorithm and outputs PWM to L298 to motor two DC motors to control the vehicle’s posture.

scholarly journals Design and Simulation of Two-Wheeled Balancing Mobile Robot with PID Controller

2020 ◽  
Vol 3 (1) ◽  
pp. 12-19
Author(s):  
Vicky Mudeng ◽  
Barokatun Hassanah ◽  
Yun Tonce Kusuma Priyanto ◽  
Okcy Saputra ◽  
◽  
...  
Keyword(s):  
Angular Velocity ◽  
Pid Controller ◽  
Pulse Width Modulation ◽  
Angular Acceleration ◽  
Electronic System ◽  
Measurement Unit ◽  
Dc Motors ◽  
Control Optimization ◽  
Working Principle ◽  
Balancing Robot

Mobile transportation robots using two wheels have now been investigated. The work within this study is to design and simulate two-wheeled robots, thus it can maintain its balance. Many control methods are used to determine satisfactory control optimization, therefore a proper response is obtained by sensor recitation corresponding with the reaction of a Direct Current (DC) motor. Recently, two-wheeled transportation robot is a Segway model. In this study, we apply a Proportional Integral Derivative (PID) controller as a control system in a self-balancing robot with a working principle is similar to an inverted pendulum. In the next study, the PID controller and the whole system are applied in the microcontroller board. The angular velocity of two DC motors used as a plant can be adjusted by Pulse Width Modulation (PWM) through a motor driver. An Inertial Measurement Unit (IMU) sensor is utilized to detect the angular acceleration and angular velocity of the self-balancing robot. The phase design is constructed by planning the robot dimension, mechanical system, and an electronic system. Particularly, this study performs mathematical modeling of the robot system to obtain the transfer function. In addition, we simulate the PID parameter with multiplication between the basic parameter and several fixed constants. The simulation results indicate that the robot can maintain its balance and remains perpendicularly stable for balancing itself.

scholarly journals Impact of cranks displacement angle on the motion non-uniformity of roller forming unit with energy-balanced drive

2021 ◽  
pp. 141-155
Author(s):  
Viacheslav Loveikin ◽  
Kostiantyn Pochka ◽  
Mykola Prystailo ◽  
Maksym Balaka ◽  
Olha Pochka
Keyword(s):  
Differential Equation ◽  
Angular Velocity ◽  
Electric Motor ◽  
Steady Motion ◽  
Equation Of Motion ◽  
Start Up ◽  
Change Function ◽  
Displacement Angle ◽  
The Impact ◽  
Motion Mode

The impact of the cranks displacement angle on the motion non-uniformity is determined for three forming trolleys of a roller forming unit with an energy-balanced drive mechanism. At the same time, the specified unit is presented by a dynamic model with one freedom degree, where the extended coordinate is taken as the angular coordinate of the crank rotation. For such a model, a differential equation of motion is written, for solved which a numerical method was used. The inertia reduced moment of the whole unit, and the resistance forces moment, reduced to the crank rotation axis, to move of forming trolleys during the formation of products from building mixtures are determined, and also the nominal rated power of the electric motor was calculated, when solved a differential equation of motion. According to these data, asynchronous electric motor with a short-circuited rotor was chosen, for which a mechanical characteristic is constructed by the Kloss formula. Having solved the differential equation of motion with all defined characteristics, we obtain the change function of the crank angular velocity from start-up moment and during steady motion mode. After that, we calculated the time corresponding to the angular velocity value, and obtained the change function of the crank angular acceleration from start-up moment and during steady motion mode. The motion non-uniformity of the roller forming unit has been determined by the motion non-uniformity factor, the motion dynamism factor and the extended factor of motion assessment during steady motion mode. The impact of drive cranks displacement angle on the motion non-uniformity has been traced, as a result, the specified factors have the minimum values at cranks displacement on the angle Δφ=60°. The results may in the future are used to refine and improve the existing engineering methods for estimating the drive mechanisms of roller forming machines, both at design stages and in practical use.

Design of the Quad-Redundant Generators Based on CAN-Bus and Nonlinear PID

2012 ◽  
Vol 591-593 ◽  
pp. 140-143
Author(s):  
Yong Zhou ◽  
Yu Feng Zhang ◽  
Qi Xun Zhou
Keyword(s):  
Communication Network ◽  
Control System ◽  
Control Strategy ◽  
Control Structure ◽  
Can Bus ◽  
Hardware Platform ◽  
Brushless Dc Motors ◽  
Brushless Dc ◽  
Pid Algorithm ◽  
Dc Motors

A novel control system of Quad-Redundant generators with the CAN-bus communication network and nonlinear PID algorithm is designed in this paper. To enhance the reliability of this power generating units, a control strategy for the multi-DSC control network of four Brushless DC Motors is presented. The hardware platform of this structure is composed of host-computer, master controller and slave-controllers, on this platform every generator could be driven independently via the CAN-bus communication network. And the principle of the nonlinear PID parameters is proposed. Using this system, the control structure of generators could be simplified and the speed of communicating could be improved. At the end of this paper, the experiment results verified that the control system is reliable, the control strategy is rational, and the system has better dynamic response.

Turning Gear Control Based on Intelligent PID Algorithm for Simulation Robotic Fish

2013 ◽  
Vol 336-338 ◽  
pp. 755-759
Author(s):  
Cui Wei Xue ◽  
Ye Tong Ren ◽  
Wei Xiang ◽  
Rui Zhi Geng
Keyword(s):  
Angular Velocity ◽  
Simulation Analysis ◽  
Control Process ◽  
Robotic Fish ◽  
Experimental Results ◽  
Turning Angle ◽  
Pid Algorithm ◽  
Control Rules ◽  
Intelligent Pid ◽  
Concrete Control

The Problems that Simulation Robotic Fish Turn too Hard or Less due to Improper Angular Velocity Gear Values May Appear in the Process of Turning. in Order to Solve the Problems, this Paper Proposes a Method of Turning Gear Control for Robotic Fish Based on Intelligent PID Algorithm. in the Paper, the Control Rules and the Principle of Intelligent PID Algorithm are Discussed. Concrete Control Process with Simulation Analysis on Urwpgsimd is also Given. Experimental Results Show that it is Feasible that the Algorithm is Applied to the Turning Gear Control of Simulation Robotic Fish , and the Application of the Algorithm Effectively Avoids the Phenomenon of Turning too Hard or Less and Ensures the Accuracy of Turning Angle.

scholarly journals DEVELOPMENT OF DIRECTIONAL ALGORITHM FOR THREE-WHEEL OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOT

2021 ◽  
Vol 59 (3) ◽  
pp. 345
Author(s):  
Le Phuong Truong ◽  
Huan Liang Tsai Liang Tsai ◽  
Huynh Cao Tuan
Keyword(s):  
Control Algorithm ◽  
Dc Motor ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Pid Algorithm ◽  
Dc Motors ◽  
Directional Control ◽  
Omnidirectional Wheels

A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. The implementation system consists of three Planet DC motors with rated power of 80 W for three wheels, three encoders for speed feedback, one encoder for distance feedback, and one digital compass sensor for angle feedback. The main system with an STM32F407 microcontroller is designed for directional control of wheels based the signal received from compass sensor and encoder and then controls three subsystems to adjust the steering speed of each wheel. The sub-system is built to control only one DC motor for each wheel with the built-in proportional integral derivative controller (PID) algorithm by an STM32F103 microcontroller.  Furthermore, the directional control algorithm is developed for three omnidirectional wheels and a PID algorithm is designed to control the speed of DC motor for each wheel. From the results the proposed system has the advantages: (1) to auto adjust the angle and position; (2) to erase the sensor for tracking line of the automobile robot; (3) cost-effectiveness and high accuracy

Using 9-Axis Sensor for Precise Cardiosurgical Robot Master Angular Position Determination

2013 ◽  
Vol 199 ◽  
pp. 356-361 ◽  
Author(s):  
Paweł Żak
Keyword(s):  
Magnetic Field ◽  
Angular Velocity ◽  
Angular Position ◽  
Data Filtering ◽  
Practical Application ◽  
Fusion Algorithm ◽  
Filtering Algorithm ◽  
Working Principle ◽  
Selection Of

The article will focus on the presentation of the possibility of practical application of integrated 9-axis sensor, in which magnetic field, acceleration and angular velocity 3-axis sensors were used. Particular emphasis will be placed to describe the mentioned sensors data fusion algorithm, which is necessary for precise and unequivocal determination of the angular position of the tested device. Another presented issue is a selection of an appropriate data filtering algorithm with selected filtering parameters. Additionally, the possibility of implementing described solutions in the angular positions measurement system of cardiosurgical Robin Heart robot master will be shown. Also, a design concept of mentioned robot master along with its working principle will be mentioned.

Zonal and tesseral harmonic perturbations of an artificial satellite

1966 ◽  
Vol 25 ◽  
pp. 323-325 ◽  
Author(s):  
B. Garfinkel
Keyword(s):  
Angular Velocity ◽  
Spherical Harmonics ◽  
Artificial Satellite ◽  
Compact Form ◽  
Earth’S Rotation ◽  
Earth's Rotation ◽  
Secular Variations ◽  
Tesseral Harmonics

The paper extends the known solution of the Main Problem to include the effects of the higher spherical harmonics of the geopotential. The von Zeipel method is used to calculate the secular variations of orderJmand the long-periodic variations of ordersJm/J2andnJm,λ/ω. HereJmandJm,λare the coefficients of the zonal and the tesseral harmonics respectively, withJm,0=Jm, andωis the angular velocity of the Earth's rotation. With the aid of the theory of spherical harmonics the results are expressed in a most compact form.

The Analysis of Proprioception Alteration during First Five Months after Anterior Cruciate Ligament Reconstruction

2018 ◽  
Vol 1 (84) ◽  
Author(s):  
Vilma Jurevičienė ◽  
Albertas Skurvydas ◽  
Juozas Belickas ◽  
Giedra Bušmanienė ◽  
Dovilė Kielė ◽  
...  
Keyword(s):  
Anterior Cruciate Ligament ◽  
Angular Velocity ◽  
Knee Joint ◽  
Cruciate Ligament ◽  
Position Sense ◽  
Joint Position Sense ◽  
Joint Position ◽  
Starting Position ◽  
Angular Velocities ◽  
Anterior Cruciate

Research  background  and  hypothesis.  Proprioception  is  important  in  the  prevention  of  injuries  as  reduced proprioception  is  one  of  the  factors  contributing  to  injury  in  the  knee  joint,  particularly  the  ACL.  Therefore, proprioception appears not only important for the prevention of ACL injuries, but also for regaining full function after ACL reconstruction.Research aim. The aim of this study was to understand how proprioception is recovered four and five months after anterior cruciate ligament (ACL) reconstruction.Research methods. The study included 15 male subjects (age – 33.7 ± 2.49 years) who had undergone unilateral ACL reconstruction with a semitendinosus/gracilis (STG) graft in Kaunas Clinical Hospital. For proprioceptive assessment, joint position sense (JPS) was measured on both legs using an isokinetic dynamometer (Biodex), at knee flexion of 60° and 70°, and at different knee angular velocities of 2°/s and 10°/s. The patients were assessed preoperatively and after 4 and 5 months, postoperatively.Research results. Our study has shown that the JPS’s (joint position sense) error scores  to a controlled active movement is significantly higher in injured ACL-deficient knee than in the contralateral knee (normal knee) before surgery and after four and five months of rehabilitation.  After 4 and 5 months of rehabilitation we found significantly lower values in injured knees compared to the preoperative data. Our study has shown that in injured knee active angle reproduction errors after 4 and 5 months of rehabilitation were higher compared with the ones of the uninjured knee. Proprioceptive ability on the both legs was  independent of all differences angles for target and starting position for movement. The knee joint position sense on both legs depends upon the rate of two different angular velocities and the mean active angle reproduction errors at the test of angular velocity slow speed was the highest compared with the fast angular velocity. Discussion and conclusions. In conclusion, our study shows that there was improvement in mean JPS 4 and 5 months after ACL reconstruction, but it did not return to normal indices.Keywords: knee joint, joint position sense, angular velocity, starting position for movement.

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