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倒立振子 三号機の試作

https://blog.with2.net/link/?1965529

倒立振子 三号機の試作

https://blog.with2.net/link/?1965529

過去に手がけた倒立振子のsketchはSainsmart InstaBotsからオープンソースとして公開されているものを流用させてもらっています。しかしながら機体は筆者オリジナルの構成でInstaBotsとはかなり異なっています。下の写真がInstaBotsのオリジナルです。こちらもその後何回かバージョンアップされてはいるようです。

今回はこのInstaBotsオリジナルの部品構成で一台作ってみようというものです。きっかけはこれまでの機体ではInstaBotsのような安定した倒立と走行がいまいち出来ないからです。原因はモータ性能だろうと考えていますが、そこで似たようなギアモータを使ってみることにします。

製作する部品構成は以下のようにします。

  • Arduino UNOR3
  • 減速機内蔵DCモーター
  • MPU6050 ジャイロ
  • L298N モータドライバ
  • RF24L01 無線モジュール
  • ジョイスティックコントローラ

部品集めです。

  • 減速機内蔵DCモーター ダイセン電子工業製 RA250060-58Y91(ギア比60:1)
  • タイヤ タミヤスポーツタイヤセット 上記モータにこのタイヤを取り付けるためのブラケットが同梱されています。

モータが届いたので走行部を作ってみます。

自作したベースプレートにモータとタイヤを取り付けました。

L298Nドライバを取り付けます。これで一段目は完成。

次に2段目にArduinoとジャイロセンサシールドを載せます。そして3段目には電池を搭載します。完成した図がこちらです。電池の交換を考えて最上段に電池をもってきましたがかなりのトップヘビーです。

InstaBots製のsketchを書き込んで試運転してみます。Kp,Ki,Kdの値はInstaBotsオリジナルの値を入力してあります。

途中細かな調整はありましたがうまく倒立します。

問題点はやはりトップヘビーのため走行させると転倒する時があります。特に高速走行は困難です。

重心を下げる工夫が必要です。次回ではその結果を紹介します。

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