自平衡两足小车report刘智高.docx
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自平衡两足小车report刘智高.docx
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自平衡两足小车report刘智高
ModernControlSystemDesign
Theme:
TwoWheelsBalancedCar
Advisor:
LiJiangang,HuangRuining
Author:
LiuZhigao,Zhaochao,Shijunxin
Date:
Jan11th,2010
HarbinInstituteofTechnologyShenzhenGraduateSchool
Contents
1.Topic’sbackgroundandcurrentresearch……………………2
2.Balancecontrolanalysis………………………………………4
3.Hardwaredesign………………………………………………6
3.1Mechanic Design………………………………………………6
3.2Embeddedcontroller…………………………………………6
3.3Motordrivemodel………………………………………7
4.Softwaredesign……………………………………………………10
5.Conclusion…………………………………………………………12
6.Appendix………………………………………………………14
1.Topic’sbackgroundandcurrentresearch
Inrecentyears,thetheoryandapplicationresearchofnonholonomicmobilerobothasgainedmoreandmoreattentioninthecontrolcommunity.Anymechanicalsystemwithwheeledmobiledrivingdevicebelongstothecategoryofnonholonomicrobot,suchastruck,soithasabroadapplicationbackground.Inthisreport,theobjectisunstablenatureofself-balancedtwo-wheeledrobot,itsdynamicsystemwithmulti-variable,non-linear,strongcoupling,time-varying,andparametersofuncertainty.AsEnvironmentMovementcomplexandequationsofmotionofnon-integrityconstraint,itscontrolisacomplextask,requiringthecompletionofbalancecontrol,pathplanningandpathtrackingatthesametime.Thisreportstudiestheunstablenatureofself-balancedtwo-wheeledrobotisacomplexexperimentaldevice,hasbecomeanidealcontroltheoryandtheexperimentalcontroltechnologyplatform.
Thisreportfocusesondynamiccontroloftheunstablenatureoftwo-wheelsself-balancedvehicleandR&Dofhardwareassoftware.Throughanalyzesandprofitsthecompositionoftheself-balancingtwo-wheeledvehiclefromthedomesticdesignandforeign,Designofthetwo-wheeledself-balancedvehicleinthehardwareandsoftware,anddetailedanalysishardwareparametersderivingtheperspectiveofthelargestcontrollable.Introductionofmathematicalmodelofthesystem,isbasedonthismodelofsystemstability,controllabilityandobservabilityanalysis.ApplicationofVariableStructureControltheoryontheunstablenatureofself-balancingtwo-wheeledvehicletotheconditionsoflimitedangle,designsynovialVariableStructureControllerbasedonReachingLawandtraditionalpoleconfigurationcontroller.Bysimulationresultsshowthatthedisturbanceinthesystemandthepresenceofperturbationparameters,thesystemperformancetomeetthedesignrequirements.
2.Balancecontrolanalysis
Twowheelsbalancedcarhassomecharacteristicssuchasunstable,time-variant,manycoupling,uncertainparameterandsoon.Wecanusemanymethodstocontrolit.Allthemethodscomefromthemodelofinvertedpendulum(Figure1).Thependulumcanmoveinonlyaplanar.Ifthependulumfallstotheleft,thebottomofthependulummustbemoveintheleftdirectiontomaintainthebalanceofthependulum.
Figure1
Twowheelbalancedcar’ssituationisjustsimilartotheinvertedpendulum.Italsoneedssimilarmotionstokeepthebalanceofframe.Thismotionisrealizedbycontrollingthespeedofthedrivemotorinthebottomofthecar.Intheprocessofmotion,thecarhastwostatessuchasequilibrantstateandnon-equilibriumstate(Figure2).
v
Figure2
3.Hardwaredesign
3.1Mechanic Design
Themechanicdesignincludeswheels,circuitboardandbody.Consideringthereexistsacomparisonbetweenthebackandthefront,weselectaironwiretosupporttheinfraredreceivermodules.Thedetailsareinthefollowingfigure3.
Figure3
3.2Embeddedcontroller
Inthisdesign,wechoseAtmega16astheembeddedcontrollerforitssuperiorperformanceandcheapprice.
ATMEGA16’SFeatures
•AdvancedRISCArchitecture
•Upto16MIPSThroughputat16MHz
•16KBytesofIn-SystemSelf-ProgrammableFlash
•512BytesEEPROM
•1KByteInternalSRAM
•32ProgrammableI/OLines
•In-SystemProgrammingbyOn-chipBootProgram
•8-channel,10-bitADC
•Two8-bitTimer/CounterswithSeparatePrescalersandCompareModes
•One16-bitTimer/CounterwithSeparatePrescaler,CompareMode,andCapture
•FourPWMChannels
•ProgrammableSerialUSART
•Master/SlaveSPISerialInterface
•Byte-orientedTwo-wireSerialInterface
•ProgrammableWatchdogTimerwithSeparateOn-chipOscillator
•ExternalandInternalInterruptSources
3.3Motordrivemodel
WechoseL298asthemotordrivemodelforitsconvenientusing.Thefollowingisitscircuitdiagram.
Figure4
Figure5Infraredreceivermodel
5VvoltageregulatorcircuitAVRdownloadcable
Figure7Totalcircuit
4.SoftwareDesign
Sinceitisverydifficulttocontroltheequilibriumjustusingnormalcontrollingmethods,wedecidetousePIDcontroller,otherwise,itwillshakeverymuch.
Attheveryfirst,weshouldinitializethevariable,systemandI/Oregister.ThenweshouldcarryontheADconversion,andreadtheresult.SincethereexistacontrastbetweenADC1andADC2,asubtractionmustbetakenonthem,andwecangetanError=ADC1-ADC2.GettingthisError,valuesofKp,KiandKdshouldbeset.ThenletK=Kp*Error+Ki*SumError+Kd*(Error-LastError),ifK<0,letthesmallcarbackoff;ifK>0,letthecargoahead.Transferringthedutycancontroltheaccelerationofthecar.UsingAVRmeg16todriveL298,thenwegetit.Flowchartispresentedonthenextpage.
Figure8Flowchart
5.Conclusion
Itisverydifficultforustodothejobfirstbecauseallofusdidn’tdosuchajobbefore,butatlast,wegetit.Itisasuccess!
Attheveryfirst,wepreparethehardware,buyingthings,assemblingthesmallcar,it’sveryexhaustingtogotoHuaqiangbeitobuyelectroniccomponents,butit’seasy.Whencometothesoftware,it’shardforus.Butescapingisnotthesolutiontotheproblem,onlygoingaheadis.Wefirstreadalotofprocedureslikethat,anddividetheworktothreeparts:
ADtransferring,PWMwavecontrollingandPIDcontroller.Soundsveryeasyhere,butwecomeacrossalotofproblemsduringtheprocessing.Forexample,afterwritingthePWMprocedure,wecanfindarightwavewithemulation,butwhenwriteitdownintheAVR,itcan’tworkcorrectly.Afteralongtimedebugging,wefinditisaproblemwithfrequency,notwrongwithcircuit.Whencomeacrossthisproblem,Ithink,mostofuswillregardit’saproblemwithcircuitatfirst,butactually,it’saproblemwiththehardwarewhichdoesn’tsupporthighfrequencyandcostusalmostawholeday.Suchproblemsarealotduringthewholeprocess.Wesolvethemonebyonewithallofourthree’sstrength.
Duringtheprocess,weknowthestrengthofunityishuge.Whenonecomesacrossaproblem,othertwomayhelphimsolute.Whenothertwocomeacrossaproblem,hemayhelpthemtosolute.Andatlast,weallknowthewholeprocess.It’saperfectprocessandwedidit!
Thanksalotforthepeoplewhohelpedusduringthewholeprocess.
6.Appendix
Listoftheelement
Name
UnitPrice(RMB)
Number
Price(RMB)
Infraredreceiver
1
5
5
L298N
6
1
6
ENC-03MA
26
1
26
ATMEGA16
15
1
15
Battery
2.5
4
10
LM358
2
5
10
Circuitwafer
3
3
9
7805
3
2
6
Crystaloscillator
1
1
1
Diode
0.2
5
1
Powercordandplug
3
TOTALPRICE
92
Taskallocation:
LiuZhigao:
Hardwaredesign,Emulation,ADconversionprogram;
ZhaoChao:
Hardwaredesign,PIDprogram;
ShiJunxin:
PWMprogram,Circuittesting.
Allthethreepeopledebuggedprogramtogether.
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