robot-controller-design
所属分类：单片机开发
开发工具：C/C++
文件大小：1477KB
下载次数：368
上传日期：2011-04-24 10:47:12
上 传 者：
kerrhu
说明： 非常全面的自平衡小车制作全套资料，包括硬件PCB，软件源代码，上位机软件代码，器件DATASHEET 等。
建模、控制算法及PD调节的取值参考：
http://www.mathworks.com/matlabcentral/fileexchange/19147-nxtway-gs-self-balancing-two-wheeled-robot-controller-design
硬件及软件参考如下网站资料；
http://www.circuitcellar.com/avr2006/winners/de/at3329.htm
http://tlb.org/scooter.html
http://www.geology.smu.edu/~dpa-www/robo/nbot/
matlab（matlab需要2008版，旧的6.5版打不开）里打开NXT.mdl，输入NXT.m.txt内容回车，K_f的四个值就是所需的PD调节比例；详细参考NXT的文档；
主控制板说明：
1：新布置的，因为修改了一些不合理的地方，和我使用的不一样，主控制板上RS232硬件部分还未调试过，所以使用时需要注意；
2：可调电位器用来调试修改PD参数；
3：另外几个接口可以用来改成遥控输入，比例遥控可以用AD采样口实现，但需要增加滤波；
4：车轮速度我进行了低通滤波，否则可能会发抖；
(Very comprehensive self-balancing production of a full set of car data, including hardware, PCB, software source code, the host computer software code, the device DATASHEET so on.
Modeling, control algorithm and adjust the value of PD Reference:
http://www.mathworks.com/matlabcentral/fileexchange/19147-nxtway-gs-self-balancing-two-wheeled-robot-controller-design
The following hardware and software reference site data
http://www.circuitcellar.com/avr2006/winners/de/at3329.htm
http://tlb.org/scooter.html
http://www.geology.smu.edu/ ~ dpa-www/robo/nbot/
matlab (matlab need to 2008, the old 6.5 version can not open) to open NXT.mdl, the contents of the input NXT.m.txt enter, K_f the four values is required for regulating the proportion of PD detailed reference documentation NXT
Main control panel Description:
1: New layout, because the amendment to some unreasonable, and I do not use the same part of the main control board has not yet RS232 hardw)
文件列表:
ProjectRII\说明.txt (1080, 2010-06-16)
ProjectRII\Control\NXT.m.txt (2602, 2010-05-17)
ProjectRII\Control\NXT_based_EN_2342.txt (3110, 2010-06-14)
ProjectRII\Control\说明.txt (54, 2010-05-20)
ProjectRII\Control\NXT.mdl (33980, 2010-06-14)
ProjectRII\Parts\IRF1404_IC-ON-LINE[1][1].CN.pdf (108459, 2010-05-14)
ProjectRII\Parts\EN_2342CR_编码器说明_接线.txt (93, 2010-05-09)
ProjectRII\Parts\EWTS82.pdf (222181, 2008-12-05)
ProjectRII\Parts\EN_2342CR_DFF.pdf (89076, 2008-10-29)
ProjectRII\Parts\MMA2260EGR2__IC-ON_LINE[1].CN.pdf (264182, 2009-04-24)
ProjectRII\Parts\IR2184__IC-ON_LINE[1].CN.pdf (185839, 2009-04-21)
ProjectRII\Parts\IR2111__IC-ON_LINE[1].CN.pdf (244223, 2009-04-21)
ProjectRII\Parts\itr9606_1257889_____.pdf (325148, 2009-03-04)
ProjectRII\Parts\CD4011_IC-ON-LINE[1][1].CN.pdf (154619, 2010-05-14)
ProjectRII\Program\main.c (10782, 2010-06-14)
ProjectRII\Program\main.lis (97054, 2010-06-14)
ProjectRII\Program\main._c (9048, 2010-05-11)
ProjectRII\Program\Project_R_II.cof (13546, 2010-06-14)
ProjectRII\Program\Project_R_II.dbg (5552, 2010-06-14)
ProjectRII\Program\Project_R_II.hex (19949, 2010-06-14)
ProjectRII\Program\Project_R_II.lk (9, 2010-06-14)
ProjectRII\Program\Project_R_II.lst (115274, 2010-06-14)
ProjectRII\Program\Project_R_II.mak (638, 2010-06-14)
ProjectRII\Program\Project_R_II.mp (5674, 2010-06-14)
ProjectRII\Program\Project_R_II.prj (1317, 2010-06-14)
ProjectRII\Program\PROJECT_R_II.SRC (41, 2010-06-14)
ProjectRII\Program\Project_R_II_cof.aps (2819, 2010-05-13)
ProjectRII\Program\project_r_ii_cof.aws (106, 2010-05-15)
ProjectRII\Program\程序更改log.txt (237, 2010-05-20)
ProjectRII\Program\main.o (35488, 2010-06-14)
ProjectRII\Schematic_Pcb\zl_old.PcbLib (37376, 2009-09-15)
ProjectRII\Schematic_Pcb\Tilt_board\Tilt_board.PRJPCB (26881, 2009-05-18)
ProjectRII\Schematic_Pcb\Tilt_board\Tilt_board.PRJPCBStructure (52, 2009-05-16)
ProjectRII\Schematic_Pcb\Tilt_board\Tilt_board.SchDoc (24576, 2009-05-16)
ProjectRII\Schematic_Pcb\Tilt_board\Tilt_board.PcbDoc (65024, 2010-03-28)
ProjectRII\Schematic_Pcb\Motor_drive_board\Motor_driver_board.PRJPCBStructure (60, 2010-06-14)
ProjectRII\Schematic_Pcb\Motor_drive_board\Motor_driver_board.PRJPCB (26911, 2010-06-14)
ProjectRII\Schematic_Pcb\Motor_drive_board\Motor_driver_board.SchDoc (265728, 2010-06-14)
ProjectRII\Schematic_Pcb\Motor_drive_board\Motor_driver_board.PcbDoc (125440, 2010-06-14)
ProjectRII\Schematic_Pcb\Min_board\Min_board.PRJPCB (26924, 2009-05-18)
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