Upload
albert-robinson
View
234
Download
0
Tags:
Embed Size (px)
Citation preview
Gyro (yee-roh)Gyro (yee-roh)
Designed by Joshua LewisDesigned by Joshua Lewis
IntroductionIntroduction
Inverted PendulumInverted Pendulum
ATMega MicroProcessorATMega MicroProcessor
Inertial Measurement UnitInertial Measurement Unit
PID Control AlgorithmPID Control Algorithm
The Inverted PendulumThe Inverted Pendulum
Axis of RotationAxis of Rotation
Center of MassCenter of Mass
AttitudeAttitude
Integrated SystemIntegrated System
Atmel ATMega128Atmel ATMega128 Inertial Measurement UnitInertial Measurement Unit Wheel EncodersWheel Encoders BlueSMiRF (Embedded Bluetooth Serial BlueSMiRF (Embedded Bluetooth Serial
RF Link)RF Link) Texas Instruments Motor DriverTexas Instruments Motor Driver Liquid Crystal DisplayLiquid Crystal Display
Inertial Measurment UnitInertial Measurment Unit
Analog Devices ADXL330 AccelerometerAnalog Devices ADXL330 Accelerometer InvenSense IDG-300 GyroscopeInvenSense IDG-300 Gyroscope
Control AlgorithmControl Algorithm
Hand Tuned Feedback LoopHand Tuned Feedback Loop
Control AlgorithmControl Algorithm
One Dimensional Kalman FilterOne Dimensional Kalman Filter
Input Biased Angular Rate Gyro and Input Biased Angular Rate Gyro and Zeroed AccelerometerZeroed Accelerometer
Two State Output (Angle & Gyro Bias)Two State Output (Angle & Gyro Bias)
Angular Rate Byproduct of ComputationAngular Rate Byproduct of Computation
PID Control AlgorithmPID Control Algorithm
Torque = Kp*Angle + Kd*AngleRate + Torque = Kp*Angle + Kd*AngleRate + Kv*WheelSpeedKv*WheelSpeed
Gain Coefficients Are Tweaked By User Gain Coefficients Are Tweaked By User During Run-Time Via Bluetooth Serial During Run-Time Via Bluetooth Serial Wireless LinkWireless Link
THE END!THE END!