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Simple inverted pendulum model
Simple inverted pendulum with force input
PID Controller
Microcontroller
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MSP430F1611
16 bit RISC
processor
48kB Flash
10kB RAM
12 bit A/D with 8
pin-accessible
inputs
Two 16 bit timers
1.8-3.6v
Inertial Measurement Unit
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IDG-300
Gyroscope
ADXL-330
Accelerometer
IDG-300 Gyroscope
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Dual-Axis rate gyroscope
Operates by oscillating masses and
capacitively measuring vibration caused
by Coriolis effect.
Sensitivity: 2 mV/°/s
Max rate: 500 °/s
Operating voltage: 3.0-3.3v
ADXL-330 Accelerometer
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Triple-axis accelerometer
Micro-machined structure suspended
over silicon by polysilicon springs. Plates
mounted on moving structure and a fixed
structure act as a variable capacitor in a
filter circuit to measure acceleration.
Sensitivity: ~300mV/g
Max acceleration: ±3.0g
Operating voltage: 2.0-3.6v (sensitivity is
ratiometric)
Estimating pendulum orientation
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Integrating rate gyros
subject to drift.
Accelerometers only
work when stationary.
Use both estimates to
get better estimate of
orientation.
Bluetooth Module
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Basically a breakout
board for NXP's
BGB203.
Class 1 so has a
100m range
100 mW max
transmitted power
3.3 volts
1 Mbps max UART
H-Bridge
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LMD-18200
3 amps continuous, 6 amps temporary
H-Bridge
Direction Control
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Forward
Reverse
Brake
Short Circuit
H-Bridge
Amplitude Control