BallBot

Brian KosorisJeroen WaningBahati GitegoYuriy Psarev10/11/2011

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 12-16.5V (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 =

0 0 1.0000 0 0 0 0 1.0000 0 -198.9738 -0.0567 0.0567 0 42.8060 0.0092 -0.0092

B =

0 0 0 1

C =

1 0 0 0

D =0

State-space model (cont.)

controllability_matrix =

0 0.61661 -0.040635 19.844 0 -0.099717 0.0065714 -4.2689 0.61661 -0.040635 19.844 -2.6754 -0.099717 0.0065714 -4.2689 0.5025

Controllable_Rank_is =

4

observability_matrix =

1 0 0 0 0 0 1 0 0 -198.97 -0.056727 0.056727 0 13.715 0.0037383 -198.98

State-space model (cont.)Obsevabile_Rank_is =

4

Poles =

0 -6.5686 6.5168 -0.014085

Kd =

-36.621 -1698.7 -40.986 -423.26

pole_placement =

-14 -5 -240 -180

L =

438.93 -4372.5 51264 -26241

K_f =

-0.14086 -886.74 -1.4844 -141.81

K_i =

-0.0071253

State-space model (cont.)K_LQR =

-0.14086 -886.74 -1.4844 -141.81 -0.0071253

new_A_by_K_gain =

0 0 1 0 0 0 0 0 1 0 0.086857 347.8 0.85855 87.502 0.0043935 -0.014046 -45.618 -0.13884 -14.151 -0.00071051 1 0 0 0 0

Gantt Chart

Title• Contents

Title• Contents