Порівняння систем стабілізації тіла в просторі для побудови макету для демонстрації можливостей платформи Arduino
Вантажиться...
Файли
Дата
2019
Автори
Говорущенко, Т.
Явнюк, А.
Гнатчук, Є.
Hovorushchenko, T.
Yavnyuk, A.
Hnatchuk, Ye.
Назва журналу
Номер ISSN
Назва тому
Видавець
Хмельницький національний університет
Анотація
Метою даного дослідження є підготовка побудови макету, який можна використовувати для демонстрації можливостей платформи Arduino, шляхом порівняння систем стабілізації тіла в просторі. У статті проведено порівняння систем стабілізації тіла в просторі, в результаті якого за основу для побудови системи стабілізації було обрано PID-регулятор.
The purpose of this study is to prepare a mock-up, which can be used to demonstrate the capabilities of the Arduino platform, by comparing stabilization systems of body in space. Comparison of stabilization systems of the body in space has been performed. This comparison showed that the mathematical model based on the Euler-Lagrange equation is one of the most reliable and capable of maintaining high rates of quality of stabilization, but a major disadvantage of this method is the complexity of application - due to ignorance of the characteristics of the object of stabilization. A widespread and reliable method is the proportional-integral-differential (PID) controller, the main advantage of which is the combination of good enough indicators of the quality of stabilization and control with the simplicity of the hardware and software implementation. The main disadvantage of the PID controller is the amplification of the high-frequency components of the signal responsible for the error - they contain noises, so that the ratio of the useful component of the signal decreases, which destabilizes the object of stabilization. However, by properly selecting additional parameters, the negative impact can be reduced. Therefore, in view of all of the above, a PID controller was chosen as the basis for the construction of the stabilization system.
The purpose of this study is to prepare a mock-up, which can be used to demonstrate the capabilities of the Arduino platform, by comparing stabilization systems of body in space. Comparison of stabilization systems of the body in space has been performed. This comparison showed that the mathematical model based on the Euler-Lagrange equation is one of the most reliable and capable of maintaining high rates of quality of stabilization, but a major disadvantage of this method is the complexity of application - due to ignorance of the characteristics of the object of stabilization. A widespread and reliable method is the proportional-integral-differential (PID) controller, the main advantage of which is the combination of good enough indicators of the quality of stabilization and control with the simplicity of the hardware and software implementation. The main disadvantage of the PID controller is the amplification of the high-frequency components of the signal responsible for the error - they contain noises, so that the ratio of the useful component of the signal decreases, which destabilizes the object of stabilization. However, by properly selecting additional parameters, the negative impact can be reduced. Therefore, in view of all of the above, a PID controller was chosen as the basis for the construction of the stabilization system.
Опис
Ключові слова
геймифікація, edutainment, Arduino, системи стабілізації тіла в просторі, PID-регулятор, gamification, edutainment, Arduino, stabilization systems of body in space, PID-contorller
Бібліографічний опис
Говорущенко Т. О. Порівняння систем стабілізації тіла в просторі для побудови макету для демонстрації можливостей платформи Arduino [Текст] / Т. О. Говорущенко, А. А. Явнюк, Є. Г. Гнатчук // Вимірювальна та обчислювальна техніка в технологічних процесах. – 2019. – №2. – С. 118-123.