Please wait, while we are loading the content...
Please wait, while we are loading the content...
Content Provider | IEEE Xplore Digital Library |
---|---|
Author | Xiaogang Ruan Jianwei Zhao |
Copyright Year | 2008 |
Description | Author affiliation: Dept. of Intell. Robot., Beijing Univ. of Technol., Beijing (Xiaogang Ruan; Jianwei Zhao) |
Abstract | The servo control system is designed with TMS320F2812 DSP chip as its core. It solves the problem of the generating of PWM signals, motor velocity feedback and direction and the feedback of the motor current in the servo control system. The structure and mathematical modeling of a dual-wheel upright self-balancing robot are studied. The real experiments are done. The right and left wheels are driven separately by two high precision Direct Current (DC) servo motors with photoelectric encoder. Direct current servo control system of Pulse Width Modulation (PWM) is based on the application of pulse width modulation DC-DC converters. Based on the construction of the structure model for the system, the systematic mathematical model is worked out according to the dynamic mechanics theory. The state feedback controller (LQR) with good robustness is designed on Matlab. The stability of the system is proved by simulation results. The human-like robot can realize all kinds of walking control. Validity and rationality of the system modeling and the controller designing are verified through the performance experiments of the prototype. |
Starting Page | 586 |
Ending Page | 590 |
File Size | 369852 |
Page Count | 5 |
File Format | |
ISBN | 9780769531519 |
DOI | 10.1109/ISIP.2008.151 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2008-05-23 |
Publisher Place | Russia |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Legged locomotion Pulse width modulation converters Feedback Pulse width modulation DC motors Servomechanisms Mathematical model Servosystems Servomotors Robots |
Content Type | Text |
Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
Sl. | Authority | Responsibilities | Communication Details |
---|---|---|---|
1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
Loading...
|