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19.2 기 이상민 (PL) 19.2 기 최종열 19.2 기 김진규

LQR 제어기를 이용한 로터리 타입 역진자 제어 시스템. 19.2 기 이상민 (PL) 19.2 기 최종열 19.2 기 김진규. 1. 2. 3. 4. 5. 6. Introduction. Development Motive & Purpose. System Overview. Hardware & Software Architecture. The probable result. The schedule for Development. Contents. 1. Instroduction.

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19.2 기 이상민 (PL) 19.2 기 최종열 19.2 기 김진규

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  1. LQR제어기를 이용한 로터리 타입 역진자 제어 시스템 19.2기 이상민(PL) 19.2기 최종열 19.2기 김진규

  2. 1 2 3 4 5 6 Introduction Development Motive & Purpose System Overview Hardware & Software Architecture The probable result The schedule for Development Contents

  3. 1. Instroduction 19.2기 이상민(PL) 19.2기 최종열 19.2기 김진규

  4. 2. Development Motive & Purpose

  5. 3. System Architecture

  6. 3. System Overview • Modeling • LQR Controller • Complementary Filter • Serial Communication • OpenGL • IPC Communication

  7. 4. Hardware Architecture MCU : TMS320F2808 Motor : Maxon DC Motor RE25 Sensor : ADXRS300 (GYRO) MMA7260 (ACC) Encoder (1024 pulse) Etc : Display device (VFD) Li-Po battery 16.8v Bluetooth Module

  8. 4. Software Architecture Controller Process of CF LQR Control 자이로,가속도 센서 Process of PC A/D Convert UART Digital IIR Low,High pass filter Inter Process Communication 기능별 Display Complementary Filter

  9. 5. The probable result <예상 결과물>

  10. 6. The schedule for development 이상민 최 종 열 김 진 규 올

  11. 6. The schedule for development Q & A

  12. Thank You ! 19.2기 이상민(PL) 19.2기 최종열 19.2기 김진규

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