Ball Segway Robot Dankook univ Micro robot society MAZE 17th Na MinYeop( naminyeop@naver.com )

1. Ball Segway Robot

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)
xθ,yθ,zθ
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
전면 사진 Photocoupler & Motor driver

6. 6
03-1 Hardware Organization
- Power Supply
4개의 Motor 회전
센서의 왜곡 발생
Photocoupler 이용
메인부와 모터부의
전원 분리
Motor의 회전에
의해 생기는 잡음이
Sensor에 영향을
미치지 않음
Noise 발생
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
xθ,yθ,zθ
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 θ
θ
P factor
Kp X θ
I factor
Ki X θ 𝒅𝒕
D factor
Kd X θ’
(𝑷 𝑰 𝑫 𝒇𝒂𝒄𝒕𝒐𝒓)
Angular
Velocity θ’
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 θ

12. 12
07 System Performance

13. 13
08 Future Plan
어플리케이션 조종( 사용자 편의성 증진 )
외란에 대한 안정성 보완( LQR Controller )
Embedded Board( Raspberry Pi / Odroid )
한국 지능 로봇 경진대회 / CIRO 지능형 창작로봇 경진대회
국제 로봇 콘테스트 / 임베디드 소프트웨어 공모대전

14. 감사합니다.