The
core of the system is a 8 bits and low cost microcontroller (ATmega128
from Atmel) which communicates with the different peripherals. This
microcontroller is very complete, incorporating: timers, two UARTS, up
to 6 PWM signals, analog to digital converter, 128Kbytes for
programming memory, etc.
System architecture
The
system hardware architecture has two main blocks which are:
sensors and actuators. The list of sensors
includes: one encoder installed in each wheel to measure their rotation
speed and an inclinometer from MicroStrain. The last of the sensors is
used to indicate the direction reference to the control algorithm
using an electric interface.
On the other hand, the actuation
system is based on
two electrical motors powered with 24 V which can reach up to 240
r.p.m. Required electrical
power is provided by a motor controller from RoboteQ connected with the
microcontroller by a RS-232 interface with a specific communication
protocol.
Regarding auxiliary
features, a
wireless link based on Bluetooth is used to communicate with a
computer for supervision purposes. Finally there is a control box to
turn down and up the system, know easily the state of the
microcontroller through a led indicator and a dead man button.
Monitoring system
