Abstract
The module of stabilization of an inclination of the plane with three degrees of freedom, the software for data acquisition from MPU-6050 using the I2C protocol, and the program of realization of the digital proportional-integral-diff erential regulator with algorithm of subtomatic factor is developed. A model of a gyroscopic device for testing the created solution was built. Considering time and resource constraints, the following solutions were chosen: PID controller for motor voltage control, PWM as a way to create a control signal, Kalman fi lter for processing output of the IMU, device and relay method in pairs with the Ziegler-Nichols method for the selection of the coeffi cients of the regulator. Test results or the following characteristics of the transition process: the time of the transition process - 0.44s, overregulation - 6.2%. Further improvement of the quality of the transient process is possible through the use of high-quality inertial measuring devices, high-precision electric motors withhigh torque.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.