BallBot Brian Kosoris Jeroen Waning Bahati Gitego Yuriy Psarev 10/11/2011
System Overview Mechanical Structure Base Vertical structure Landing gear Electronics Sensors Actuators/Motors Control System State-space variable model MatLab/Simulink code
Mechanical Design (CAD) SolidWorks model
Mechanical Design (CAD) SolidWorks model
Mechanical Design (CAD) SolidWorks model
Electrical Components New components Micro ITX gigabyte board High-level CPU to run MatLab Processes integer data from IMU board Runs control algorithm to digest sensor data Provides output to motor controllers 100% onboard control for self-sufficiency A321 batteries x 30 for onboard power supply Provides V (3-5A) to motors Provides 5V for digital logic (IMU board and CPU)
Micro ITX onboard Computer 1.6GHz CPU 4GB DDR3 Windows 7 MatLab 2010
IMU Board Arduino ATmega2560 Microcontroller/microprocessor ADXL345 Accelerometer Three-axis acceleration measurement unit IDG500 Gyroscope Two-axis angular velocity measurement unit Provides real-time feedback of inertial orientation in 3D space
IMU Board
Sensor Data Processing IMU data will be relayed to onboard computer MatLab will process complex state-space equations Control system theory is used to model the system and provide feedback to motors
Electronics Overview
Controller Overview State-space subsystem block diagram
Controller Simulation Subsystem Block-diagram representation of inside subsystem
Controller Simulation State-space modeling x’ = Ax + Bu; y = Cx + Du MatLab A = B = 0001 C = D = 0
State-space model (cont.) controllability_matrix = Controllable_Rank_is = 4 observability_matrix =
State-space model (cont.) Obsevabile_Rank_is = 4 Poles = Kd = pole_placement = L = K_f = K_i =
State-space model (cont.) K_LQR = new_A_by_K_gain =
Gantt Chart
Title Contents
Title Contents