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니훈 궉
8 years ago
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12 l Y ( X g, Y g ) r v L v v R L θ X ( X c, Yc) W (a) (b)

17 DC 12V 9A Battery 전원부 DC-DC Converter +12V, -12V DC-DC Converter 5V DC-AC Inverter AC 220V DC-DC Converter 3.3V Motor Driver 80196kc,PWM Main PC Motor Ultrasonic Sensor, RF Stereo Vision, Wireless LAN GPS Gear Encoder 구동부 센서부 Controller Converter Server PC Encoder Counter

3V Motor Driver 80196kc,PWM Main PC Motor Ultrasonic Sensor, RF

18 모터 출력 입력 전압 Encoder 기어 비 풀리 비 바퀴 지름 최대 속도 속도 Resolution 샘플링 시간 Controller 제어 방식 모터 구동방식 PWM Switching Time 사용 언어 110W 48V 4000 Puls/Res 1:15 (기어:모터) 1:3 (바퀴:기어) 500 mm 1m/s 256단계 10m/s 80C196KC PI 제어 PWM KHz 어셈블러

19 80C196KC PC V r + - V a V e PID Speed Controller V u PWM Generator Converter V Motor Encoder Feedback Gain ω Enconder Counter θ

20 Port Port 1.0 Port 1.1 Port 1.2 Port 1.3 Port 1.4 Port 1.5 Port 1.6 Port 2.0 Port 2.1 제어신호 Encoder Reset Motor 1 Phase Motor 1 Enable Motor 1 PWM Motor 2 PWM Motor 2 Phase Motor 2 Enable TxD RxD

21 duty rate 0% PWM control 레지스터 값 00 25% 64 50% % % 255

30 Operator Control Command delay t 1 ( T d ) V s Sensor Based Mobile Robot Inerenet Local site delay t 2 Remote site

32 y command Reference Path Actual Path Reference Path Actual Path Time Error Path Error (a) Path Error x (b) Time Error t

33 command command Ci Ci+ 1 C i+2 Ci+ 3 Ci+ 4 Ci+ 5 Ci+ 6 Ci+ 7 Internet C i+3 Ci Ci+ 1 C i+ 2 C i+6 Ci+4 C i+ 5 C i t t T s Ts Tm macro T d micro T d

34 Halt Operator NO C == R YES Path Analysis Module Control Part Path Generation Module Velocity Generation Module Control Command YES Ethernet T d > T s NO C a (t) Local Site Internet Remote Site Sensor Based Mobile Robot

35 Y P d ( t 1) P c (t) C r ( t 1) C a (t) C d ( t 1) C r (t) P (t 1) r (t) P r P r ( t 2) X

36 Y P r ( t +1) P r ( t 2) C r ( t 1) A구간 P (t 1) r C구간 P d ( t 1) C d ( t 1) C r (t) C a (t) B구간 (t) P r C r ( t +1) X

37 Y (가속구간) P r ( t +1) (감속구간) P d ( t 1) C a (t) path1 C구간 A구간 B구간 C ( t 1) θ C d r (t) P path2 P pf P (t 1) rf r (t) P r C b (t) C r ( t +1) C r ( t 1) P r ( t 2) X

39 1 ZR P1 P2 P3 P Distance NB NS ZR 1 PS PB Angle (deg) 1 ZR P1 P2 P3 P4 P5 P Distance

40 Dist ZR P1 P2 P3 P4 Angle NB NS ZR PS PB ZR P1 ZR P1 ZR P1 P3 P2 P3 P1 P2 P4 P3 P4 P2 P3 P5 P4 P5 P3 P3 P6 P5 P6 P3

41 1 Start End Pd ( t 1)( xi ) ( Pr ( t)( xi ) Pd ( t 1)( xi )) 0.7 Pr ( t)( xi ) X

43 V max V max i V i V s Case of Micro Time Delay V min i V min 0 t0 1 Case of Macro Time Delay t t t 1 1 t i t i + ( ti + td ) t1 2 2 P r ( t 1) P d (t) (a) t i + t d Time V max V max i newv i V s Case of Micro Time Delay V min i V min 0 t0 1 Case of Macro Time Delay t t t t 1 1 i t i + ( ti + td ) t1 t i + t 2 2 d P r ( t 1) (t) (b) P d Time

44 1 Short Long Time t t i + t 1 i

46 명령 T c T m T d

50 경로오차 시간오차 시간지연에 따른 보 상이 없는 경우 m 2 시간지연에 따른 적절 퍼지논리를 이용하 한 보상이 적용된 경우 여 보상을 한 경우 m m sec sec sec 2

서보교육자료배포용.ppt

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