Moduláris felépítésű robot motoros hajtásának tervezése és kivitelezése

Bódis-Szomorú, András (2005) Moduláris felépítésű robot motoros hajtásának tervezése és kivitelezése. -, Budapest.

[img] Text
Bodis_Szomoru_Andras_diplomaterv.pdf - Published Version
Restricted to Registered users only

Download (3MB) | Request a copy
[img] Text
Bodis_Szomoru_Andras_dipvedes.pdf - Presentation
Restricted to Registered users only

Download (3MB) | Request a copy

Abstract

The Embedded Information Systems Research Group (EISRG) being part of the Budapest University of Technology and Economics (Budapest, Hungary) launched the development of a modularized electronic device which will help their students to be introduced in the area of embedded information systems design and application within the frameworks of the Embedded Information Systems Engineering (EISE) major. The device is formed by several modules with many different functions: microprocessor module, radio communication module, accoustical module, Ethernet interface module etc. Within this project, the demand for a motorized mobile rolling subsystem appeared. This would serve to transport the modularized device. For this purpose, not only the transporting mechanics and the motor control hardware has to be worked out but a motor control software has to be implemented as well. During this semester this subsystem has been developed by the author. The developed subsystem consists of two driving motors, a mechanical structure carrying the motors and the electronics, two separated electrical supply system (battery and accumulator holders) for the motors and the modularized electronics, two optical detector modules for motor revolution speed sensing, an 8-bit Atmel AVR microcontroller -based motor control module and a positioner servo motor with limited rotation and integrated closed-loop position control electronics. The closed loop control algorithm of the driving motors is executed by the microcontroller of the motor control module. The main functions of the subsystem are tested by some special test software implemented by the author. With slight modifications, these software components together will constitute the final control software with a cascade closed-loop control algorithm. Current document aims to present in details the steps of the development and implementation of the above subsystem, therefore, to certify the suitability of the subsystem for the objectives announced by EISRG and to proove the competency of the author in embedded electronic system engineering. First, the possibilities in hardware design are presented with enough details for an appropriate selection of the most suitable solutions for the current project. Second, the details of software-hardware design are shown with additional calclations and simulation results. Third, the current state of the subsystem is presented and finally, some potential improvements are proposed.

Item Type: Book (edited)
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Depositing User: András Bódis-Szomorú
Date Deposited: 11 Dec 2012 15:26
Last Modified: 11 Dec 2012 15:26
URI: http://eprints.sztaki.hu/id/eprint/4378

Update Item Update Item