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A low–cost measurement system using filtering of measurements for two–wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, a–b type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig.
Rocznik
Tom
Strony
art. no. e140518
Opis fizyczny
Bibliogr. 48 poz., rys., tab.
Twórcy
autor
- Gdańsk University of Technology, ul. G. Narutowicza 11/12, 80-233 Gdańsk, Poland
autor
- Gdańsk University of Technology, ul. G. Narutowicza 11/12, 80-233 Gdańsk, Poland
autor
- Gdańsk University of Technology, ul. G. Narutowicza 11/12, 80-233 Gdańsk, Poland
Bibliografia
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Uwagi
Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-151b95ed-59f7-44d2-a82b-c8098ce2d841