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Balanserande robot
Linköping University, Department of Electrical Engineering.
2010 (Swedish)Independent thesis Basic level (university diploma), 20 credits / 30 HE creditsStudent thesisAlternative title
Balancing Robot (English)
Abstract [sv]

Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan.

Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor.

Abstract [en]

This report explain the development of a two wheel balancing robot. A PID-regulator is implemented in a microcontroller, which also AD-converts a sensor signal, and generate pulse width modulated signals to drive H-bridges. It is discussed how to develop a discretisized PID regulator, microcontroller and H-bridge circuit boards, as well as how to chose components and suitable sensors for measuring the robots angle against a vertical plane.

The robot is able to balance on its own when standing still, but it need to have feedback from its wheel position if it should be able to maintain balancing when moving. The robot use a mechanical floor feeler (potentiometer). Other sensors are also discussed, e g accelerometer, rate gyro and optical sensor.

Place, publisher, year, edition, pages
2010. , 52 p.
Keyword [sv]
Balanserande robot, digital reglering, PID, H-brygga, PWM, gyro, accelerometer, mikrokontroller.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-19742ISRN: LiTH-ISY-EX-ET--08/0344--SEOAI: oai:DiVA.org:liu-19742DiVA: diva2:327351
Presentation
(English)
Uppsok
Technology
Available from: 2010-06-29 Created: 2009-07-28 Last updated: 2010-06-29Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf