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本帖最后由 旭日东升 于 2012-4-13 10:06 编辑
谁可以翻译一份2足机器人设计资料
创建虚拟的NXT群，设计NXT项目群，这里我有一份有些关于两足机器人设计资料希望感兴趣好友可以共同完成翻译，期望早日可以共享劳动成果。
目前希望愿意参与翻译的告知，共同完成一份翻译也是学习交流的好途径。
文档名称： NXTway-GS Model-Based Design Control of self-balancing two-wheeled robot built with LEGO Mindstorms NXT
大纲如下：
Introduction.................................................................................................................i
Preparation...................................................................................................................i
Required Products........................................................................................................ii
File List..........................................................................................................................ii
1 Model-Based Design............................................................................................. ....1
1.1 What is Model-Based Design?.......................................................................1
1.2 V-Process....................................................................................................2
1.3 Merits of MBD...............................................................................................3
2 NXTway-GS System....................................................................................................4
2.1 Structure.......................................................................................................4
2.2 Sensors and Actuators..................................................................................4
3 NXTway-GS Modeling...................................................................................................6
3.1 Two-wheeled inverted pendulum model.........................................................6
3.2 Motion equations of two-wheeled inverted pendulum......................................7
3.3 State equations of two-wheeled inverted pendulum.......................................10
4 NXTway-GS Controller Design......................................................................................12
4.1 Control System......................................................................................... ....12
4.2 Controller Design.............................................................................................13
5 NXTway-GS Model..........................................................................................................16
5.1 Model Summary...............................................................................................16
5.2 Parameter Files.................................................................................................20
6 Plant Model....................................................................................................................21
6.1 Model Summary..............................................................................................21
6.2 Actuator..........................................................................................................22
6.3 Plant................................................................................................................23
6.4 Sensor............................................................................................................24
7 Controller Model (Single Precision Floating-Point Arithmetic)............................................25
7.1 Control Program Summary.............................................................................25
7.2 Model Summary.............................................................................................27
7.3 Initialization Task : task_init.............................................................................30
7.4 4ms Task : task_ts1........................................................................................30
7.5 20ms Task : task_ts2.......................................................................................35
7.6 100ms Task : task_ts3.....................................................................................36
7.7 Tuning Parameters............................................................................................37
8 Simulation........................................................................................................................38
8.1 How to Run Simulation......................................................................................38
8.2 Simulation Results...............................................................................................39
8.3 3D Viewer............................................................................................................41
9 Code Generation and Implementation.................................................................................42
9.1 Target Hardware & Software.................................................................................42
9.2 How to Generate Code and Download...................................................................43
9.3 Experimental Results..............................................................................................44
10 Controller Model (Fixed-Point Arithmetic)............................................................................46
10.1 What is Fixed-Point Number?...............................................................................46
10.2 Floating-Point to Fixed-Point Conversion...............................................................47
10.3 Simulation Results..................................................................................................50
10.4 Code Generation & Experimental Results................................................................51
11 Challenges for Readers.........................................................................................................52
Appendix A Modern Control Theory...........................................................................................53
A.1 Stability...............................................................................................................................53
A.2 State Feedback Control.....................................................................................................53
A.3 Servo Control....................................................................................................................55
Appendix B Virtual Reality Space..............................................................................................57
B.1 Coordinate System............................................................................................................57
B.2 Making Map File..................................................................................................................59
B.3 Distance Calculation and Wall Hit Detection.........................................................................60
Appendix C Generated Code......................................................................................................62
Reference..................................................................................................................................66
NXTway-GS Model-Based Design.pdf
(2.54 MB, 下载次数: 219)
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