AUTHORS: Ph. Dondon, A. Dutrey, J. B. Bourlier, A. Sivert
Download as PDF
ABSTRACT: The study relates to the design and the realization of an electronic trajectory stabilisation system for a RC (Radio Controlled) model electrical car. We give first the context of the study and the mains specifications. Available hardware (mechanical parts, sensors) are briefly described. Then, characterisation and modelling of the steering wheels control system is proposed. The electronic design and software implementation are exposed and we show some experimental results and validation tests. The trajectory correction strategy is secondly explained; used sensors are described and characterized. Finally, a feed back electronic system is proposed before comments and technical discussion.
KEYWORDS: MEMS sensor, Power control, Analogue electronic, Electronic feed back, R/C electrical model car, Multi thematic project, Pedagogical experience
REFERENCES:
[1] « ESP dispositif de contrôle de trajectoire » http://www.willemin.net/Presse/Fonctionnement%20 ESP.pdf
[2] W. NUNINGER, W. PERRUQUETTI, JP. RICHARD « Bilan et enjeux des modèles de frottements : tribologie et contrôle au service de la sécurité des transports.' JEF'06, 5th European Conference on Braking, Lille, France (2006)
[3] Ch. Hyde “Inertial Sensors Using Accelerometers & Gyro’s Slipping detection Against steering relaxation Against steering reaction time for FIRST Robotics” Analog Devices power point presentation, January 2007
[4] J. Borenstein and L. Feng “Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots” Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Apr. 22-28, 1996, pp. 423- 428.
[5] T. L. Grigorie, N.Jula, C. Cepisca, C. Răcuciu, D. Răducanu “Evaluation Method of the Sensors Errors in an Inertial Navigation System” WSEAS TRANSACTIONS on CIRCUITS and SYSTEMS ISSN: 1109-2734 p.977 Issue 12, Volume 7, December 2008
[6] T. L. Grigorie, N.Jula, C. Cepisca, C. Răcuciu, D. Răducanu “MEMS based Micro inertial measurement system” WSEAS TRANSACTIONS on CIRCUITS and SYSTEMS ISSN: 1109-2734 p.691 Issue 5, Volume 5, May 2006
[7] Laurent Boutin, Mathieu Barreau « réflexions sur l’énergétique des véhicules Routiers » Association de Sauvetage Créatif du Savoir Aérotechnique, juin 2008 http://inter.action.free.fr/
[8] C. VLOEBERGH, D.GRENIER, P.FISETTE, C.EUGENE, J-D LEGAT “Intégration d'une compétition de robotique au sein du cursus de formation en mécatronique” CETSIS EEA Nancy 25-27 October 2005
[9] Ph. DONDON- J.M MICOULEAU- G. LEROYER ' Initiation to GPS localisation and navigation using a small-scale model electric car: An illustration of “learning by project” for graduated students' ' WSEAS EDUTE 2009 24-26 october 2008 Genova (Italy)
[10] NikkoWebSite: http://nikkoevolution.fr/
[11] S.Allano, « Petits moteurs électriques » Techniques de l’ingénieur R1 940
[12] Mabuchi Web site : http://www.mabuchimotor.co.jp
[13] N. Y. A. SHAMMAS, S. EIO, D. CHAMUND “Semiconductor Devices and their use in Power Electronic Applications” WSEAS POWER'07 21-23 Nov 2007 Venise (Italia)
[14] J.P Brossard « Dynamique du véhicule, Modélisation des systèmes complexes » ISBN: 2- 88074-644-2 Presse polytechnique et universitaires romandes 2006
[15] P.Duysinx « stabilité et comportement du virage en régime permanent » cours université de Liège Belgique 2009
[16] Ch. Hyde “Inertial Sensors Using Accelerometers & Gyro’s for FIRST Robotics” Analog Devices power point presentation, January 2007
[17] Invensense IDG 650 data sheet Website: www.invensense.com
