Electric two-wheeled balancing car

! " # $ % ! " # $ % ! " # $ % ! " # $ %

I

II

(segway)

(segway)

III

Abridgment

In recent yearsbecause of invent the electric two-wheeled balancing car

has become more and more popular due to its responsive yet precise and

pollution-free. This is a new technology product, so there are a lot of new electric

two-wheeled balancing cars technology be studied continuously; By the way, the

original products (segway) price is more then 200 thousand, its very expensive. So,

this dissertation is devoted to investigating both the pilot control, and used anther

material to make a same product which is more cheaper.

In this dissertation, we convert a two joysticks commands into two torque

directives for movement. This technology is used adxl 322 to read the electric

two-wheeled balancing cars tilt side angle, and give a revise to the motor. The

experimental results substantiate that the proposed pilot control and used anther

material to make a cheap electric two-wheeled balancing car have the ability and

practice.

IV

I

II

III

VI

VIII

1

1.1 1

1.2 2

1.3 3

1.4 3

4

2.1 4

2.2 5

2.2 6

2.2.1 6

2.2.2 8

11

3.1 11

3.2 11

3.3 13

3.4 14

3.5 15

3.6 16

V

3.6.1 16

3.6.2 18

21

4.1 21

4.2 22

4.3 24

25

5.1 25

5.2 25

26

VI

1.1 Segway 1

2.1 4

2.2 5

2.3 5

2.4 6

2.5 7

2.6 7

2.7 ADXL322 8

2.8 ADXL322 9

2.9 ADXL322 10

2.10 ADXL322 10

3.1 11

3.2 11

3.3 12

3.4 12

3.5 12

3.6 13

3.7 14

3.8 15

3.9 15

3.10 intersil ACD0804 16

3.11 ADC0804 17

3.12 ACD0804 17

3.13 H 18

VII

3.14 L293D 18

3.15 L293D 19

3.16 L293D 19

3.17 L293D 19

3.18 20

3.19 L293D 20

4.1 21

4.2 21

4.3 22

4.4 () 23

4.5 () 23

VIII

2.1 ADXL322 8

3.1 20

1

1.1

Dean Kamen

Segway 1.1

[1]

1.1 Segway Segway

2

1.2

1995 Dean Kamen Segway

Segway

[2]

3

1.3

Segway

Segway

1.4

IC

4

2.1

2.1

[3]

1. 2. 3.

2.1

2.2

1.:

2.:

3.:

5

2.2

2.2

1.5V

1.5V

1.5V

2.3

6

2.2

2.2.1

m a

F F = ma

kx

F = kx

2.4 http://www.ni.com/

2.4

2.4

ma = kx

k = (spring constant)N/m

x = (m)

m = (kg)

a = m/s2

a=xk/m

7

[4]

2.5

2.6

8

2.2.2

ADXL3222

2 g 0~60Hz 420mv/g

2.7 ADXL322 ADXL322

2.1 ADXL322 ADXL322

Pin No. Mnemonic Description 1 NC Do Not Connect 2 ST Self-Test 3 COM Common 4 NC Do Not Connect 5 COM Common 6 COM Common 7 COM Common 8 NC Do Not Connect 9 NC Do Not Connect 10 YOUT Y-Channel Output 11 NC Do Not Connect 12 XOUT X-Channel Output 13 NC Do Not Connect 14 VS 2.4 V to 6 V 15 VS 2.4 V to 6 V

16 NC Do Not Connect

9

ADXL322 3V XOUT 1.5V

90XOUT 1.08V 90XOUT 1.92V

2.8 ADXL322 ADXL322

= ASIN(AX/1 g)

AX =(XOUT-1.5V)/420mv/g

AX

10

2.9 ADXL322

2.10 ADXL322

11

3.1

[2]3.1

3.1

3.2

3.2

3.2

12

3.3

3.4

3.5

13

3.3

0

-35~353.6

[5]

3.6

14

3.4

3.7

3.7

A/D

15

3.5

3.8 PHOTONIC

CG-309A 12060;:12V:60rpm

3.7

3.9

16

3.6

3.6.1

A/D intersil ACD0804ACD0804

8

5V/28=0.01953125V1 LBS 100s

3.10 intersil ACD0804

17

3.11 ADC0804 8051

3.12 ACD0804 8051

18

3.6.2

H3.13

3.13 H PIC_SERVER(4)-

SGS-THOMSONL293DL293D

(Push-Pull)H(Half H-Bridge)(source)

(sink)outputVccoutput

GND[6]3.14

3.14 L293D PIC_SERVER(4)-

19

3.15 L293D

3.16 L293D PIC_SERVER(4)-

3.17 L293D L293D

20

3.18

S1S2S3S4

(Output)EnableHighInput_1High

S1OUT1HighInput_2LowS4OUT2Low

(Vcc-S1--S4-GND)Input_1Low(S2OUT1

Low)Input_2High(S3OUT2High)(Vcc-S3-

-S2-GND) [6]

3.18 PIC_SERVER(4)-

3.1 PIC_SERVER(4)-

input_1 input_2 H L S1S4S2S3 L H

H/L H/L

3.19 L293D L293D

21

4.1

88

5

4.1

4.2

22

4.2

ADC8004

bit280518051L293D

IC

4.1

23

4.2 ()

4.3 ()

24

4.3

25

5.1

5.2

1500

26

[1]- NIOS

2006

[2] 16/32 DSP

2006

[3]

2003

[4]MyNI - National Instrumentshttp://www.ni.com/

[5]2007

[6]PIC_SERVER (4)

[7]- NIOS

2006

[8]2006

[9]8051 2000