2. 1. System Preview 2. System Architecture 3. Hardware
Organization 4. Software Organization 5. PID Controller 6.
Balancing Algorithm 7. System Performance 8. Future Plan
Contents
3. 3 01 System Preview
4. 4 02 System Architecture CPU TIMER (T=1ms) x,y,z SCI-A
Serial interface PID Controller SCI-B Serial interface Main Power
Motor Power Balancing Algorithm Internal PWM
5. 5 03 Hardware Organization Sensor Bluetooth & MCU &
display Motor Part Solid works 3D-tool Photocoupler & Motor
driver
6. 6 03-1 Hardware Organization - Power Supply 4 Motor
Photocoupler Motor Sensor Noise Main Power Motor Power Li-Po 2Cell
7.4V Li-Po 6Cell 22.2V 5V-Regulator ( LM2576 ) 5V-Regulator (
LM2576 ) Motor part DSP (TMS320F2809) Photocoupler Sensor EBIMU9_V2
x,y,z PWM (Main voltage) PWM (Motor voltage) Motor Driver
Motor
7. 7 03-2 Hardware Organization - Photocoupler
8. 8 04 Software Organization Main START END System Initialize
Menu Motor interrupt ( T = 1ms )GPIO Interrupt PWM SCI_A, SC I_B
Sensor Setting Debugging Value Start Code Jump SCI interrupt PID
Controller Balancing Algorithm PWM OUT SCI_A(Bluetooth)
SCI_B(Sensor)
9. 9 05 PID Controller Ballbot Angle P factor Kp X I factor Ki
X D factor Kd X ( ) Angular Velocity Balancing Algorithm
10. 10 06 Balancing Algorithm UnSafe zone Safe Zone (-3 ~ +
3)
11. 11 06 Balancing Algorithm Balancing Algorithm Value
Initialize Current Position Safety zone check Calculation distance
Angle
