electric two-wheeled balancing car - fcu.edu.t ·...
TRANSCRIPT
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Electric two-wheeled balancing car
! " # $ % ! " # $ % ! " # $ % ! " # $ %
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I
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II
(segway)
(segway)
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III
Abridgment
In recent yearsbecause of invent the electric two-wheeled balancing car
has become more and more popular due to its responsive yet precise and
pollution-free. This is a new technology product, so there are a lot of new electric
two-wheeled balancing cars technology be studied continuously; By the way, the
original products (segway) price is more then 200 thousand, its very expensive. So,
this dissertation is devoted to investigating both the pilot control, and used anther
material to make a same product which is more cheaper.
In this dissertation, we convert a two joysticks commands into two torque
directives for movement. This technology is used adxl 322 to read the electric
two-wheeled balancing cars tilt side angle, and give a revise to the motor. The
experimental results substantiate that the proposed pilot control and used anther
material to make a cheap electric two-wheeled balancing car have the ability and
practice.
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IV
I
II
III
VI
VIII
1
1.1 1
1.2 2
1.3 3
1.4 3
4
2.1 4
2.2 5
2.2 6
2.2.1 6
2.2.2 8
11
3.1 11
3.2 11
3.3 13
3.4 14
3.5 15
3.6 16
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V
3.6.1 16
3.6.2 18
21
4.1 21
4.2 22
4.3 24
25
5.1 25
5.2 25
26
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VI
1.1 Segway 1
2.1 4
2.2 5
2.3 5
2.4 6
2.5 7
2.6 7
2.7 ADXL322 8
2.8 ADXL322 9
2.9 ADXL322 10
2.10 ADXL322 10
3.1 11
3.2 11
3.3 12
3.4 12
3.5 12
3.6 13
3.7 14
3.8 15
3.9 15
3.10 intersil ACD0804 16
3.11 ADC0804 17
3.12 ACD0804 17
3.13 H 18
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VII
3.14 L293D 18
3.15 L293D 19
3.16 L293D 19
3.17 L293D 19
3.18 20
3.19 L293D 20
4.1 21
4.2 21
4.3 22
4.4 () 23
4.5 () 23
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VIII
2.1 ADXL322 8
3.1 20
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1
1.1
Dean Kamen
Segway 1.1
[1]
1.1 Segway Segway
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2
1.2
1995 Dean Kamen Segway
Segway
[2]
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3
1.3
Segway
Segway
1.4
IC
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4
2.1
2.1
[3]
1. 2. 3.
2.1
2.2
1.:
2.:
3.:
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5
2.2
2.2
1.5V
1.5V
1.5V
2.3
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6
2.2
2.2.1
m a
F F = ma
kx
F = kx
2.4 http://www.ni.com/
2.4
2.4
ma = kx
k = (spring constant)N/m
x = (m)
m = (kg)
a = m/s2
a=xk/m
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7
[4]
2.5
2.6
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8
2.2.2
ADXL3222
2 g 0~60Hz 420mv/g
2.7 ADXL322 ADXL322
2.1 ADXL322 ADXL322
Pin No. Mnemonic Description 1 NC Do Not Connect 2 ST Self-Test 3 COM Common 4 NC Do Not Connect 5 COM Common 6 COM Common 7 COM Common 8 NC Do Not Connect 9 NC Do Not Connect 10 YOUT Y-Channel Output 11 NC Do Not Connect 12 XOUT X-Channel Output 13 NC Do Not Connect 14 VS 2.4 V to 6 V 15 VS 2.4 V to 6 V
16 NC Do Not Connect
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9
ADXL322 3V XOUT 1.5V
90XOUT 1.08V 90XOUT 1.92V
2.8 ADXL322 ADXL322
= ASIN(AX/1 g)
AX =(XOUT-1.5V)/420mv/g
AX
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10
2.9 ADXL322
2.10 ADXL322
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11
3.1
[2]3.1
3.1
3.2
3.2
3.2
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12
3.3
3.4
3.5
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13
3.3
0
-35~353.6
[5]
3.6
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14
3.4
3.7
3.7
A/D
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15
3.5
3.8 PHOTONIC
CG-309A 12060;:12V:60rpm
3.7
3.9
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16
3.6
3.6.1
A/D intersil ACD0804ACD0804
8
5V/28=0.01953125V1 LBS 100s
3.10 intersil ACD0804
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17
3.11 ADC0804 8051
3.12 ACD0804 8051
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18
3.6.2
H3.13
3.13 H PIC_SERVER(4)-
SGS-THOMSONL293DL293D
(Push-Pull)H(Half H-Bridge)(source)
(sink)outputVccoutput
GND[6]3.14
3.14 L293D PIC_SERVER(4)-
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19
3.15 L293D
3.16 L293D PIC_SERVER(4)-
3.17 L293D L293D
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20
3.18
S1S2S3S4
(Output)EnableHighInput_1High
S1OUT1HighInput_2LowS4OUT2Low
(Vcc-S1--S4-GND)Input_1Low(S2OUT1
Low)Input_2High(S3OUT2High)(Vcc-S3-
-S2-GND) [6]
3.18 PIC_SERVER(4)-
3.1 PIC_SERVER(4)-
input_1 input_2 H L S1S4S2S3 L H
H/L H/L
3.19 L293D L293D
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21
4.1
88
5
4.1
4.2
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22
4.2
ADC8004
bit280518051L293D
IC
4.1
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23
4.2 ()
4.3 ()
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24
4.3
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25
5.1
5.2
1500
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26
[1]- NIOS
2006
[2] 16/32 DSP
2006
[3]
2003
[4]MyNI - National Instrumentshttp://www.ni.com/
[5]2007
[6]PIC_SERVER (4)
[7]- NIOS
2006
[8]2006
[9]8051 2000