Mathematical modelling of a two degree of freedom platform using accelerometers and gyro sensors.
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Date
2016
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Abstract
This paper demonstrates the assembly of a servo-controlled platform with two degrees of freedom, empirical methods and
a developed closed-loop control found in the system mathematical model. This control aims to stabilize and hold small objects on the
platform. We parsed the step response in X and Y axes, hence we found the first and second-order models for each one. We did some
further analyses to decide which one would better represent the behavior of the system. The MATLAB software provided step
response for the model empirically obtained and latter compared it to experimental data acquired in the trials. Accelerometers and
gyro sensors from the MPU-6050 sensor measured the angular position of platform on X and Y axes. In order to improve
measurements accuracy and eliminate noise effects, we implemented the complementary filter to the firmware system. We used
Arduino to control servomotors through PWM pulses and perform data acquisition.
Description
Keywords
Balanced platform, Complementary filter, Arduino
Citation
LAGE, V. N.; RÊGO SEGUNDO, A. K.; PINTO, T. V. B. e. Mathematical modelling of a two degree of freedom platform using accelerometers and gyro sensors. Journal of Mechanics Engineering and Automation, v. 6, p. 427-433, 2016. Disponível em: <http://www.davidpublisher.org/index.php/Home/Article/index?id=30066.html>. Acesso em: 29 set. 2017.