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초록
영어
This paper presents a method to design and control a balancing system and it focus on system modelling and PID controller design. In this system, signals from sensor is being fed to the PID. The proposed PID controller has used to maintain the balancing system at equilibrium. The balancing system has made by means of the single chip Atmega128 microcontroller. Simulations and experimental were performed to illustrate the effectiveness of the proposed controller system in term of stability, balance and response. Through the simulation research and experiments, it is shown that one direction to development controls the quad-copter.
목차
Abstract
I. INTRODUCTION
II. HARDWARE DESCRIPTON
A. Hardware of the Designed Balancing System
B. Sensor Signals
III. MATHEMATICAL MODEL OF THE ROBOT
A. Motor Characteristics
B. Rigid Body Dynamics
C. State Space Model
D. Parameters
IV. PID CONTROLLER DESIGN
V. EXPERIMENTAL RESULT
VI. CONCLUSION
REFERENCES
I. INTRODUCTION
II. HARDWARE DESCRIPTON
A. Hardware of the Designed Balancing System
B. Sensor Signals
III. MATHEMATICAL MODEL OF THE ROBOT
A. Motor Characteristics
B. Rigid Body Dynamics
C. State Space Model
D. Parameters
IV. PID CONTROLLER DESIGN
V. EXPERIMENTAL RESULT
VI. CONCLUSION
REFERENCES
저자정보
참고문헌
자료제공 : 네이버학술정보