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"title": "Regul\u00e1tor ot\u00e1\u010dok pre mal\u00fa v\u0155ta\u010dku",
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"*": "'''Abstrakt'''\n\n''Pr\u00e1ca sa zaober\u00e1 realiz\u00e1ciou regul\u00e1tora ot\u00e1\u010dok mal\u00fdch ru\u010dn\u00fdch v\u0155ta\u010diek, ktor\u00fd ma za cie\u013e zv\u00fd\u0161i\u0165 komfort a \u00fa\u010dinnos\u0165 pr\u00e1ce s nimi. Medzi hlavn\u00e9 vlastnosti regul\u00e1tora patr\u00ed bezsn\u00edma\u010dov\u00e9 riadenie ot\u00e1\u010dok v uzavretej slu\u010dke, automatick\u00e9 prep\u00ednanie pracovn\u00fdch a pokojov\u00fdch ot\u00e1\u010dok a n\u00edzka cena. Namiesto mechanick\u00e9ho sn\u00edmania ot\u00e1\u010dok je pou\u017eit\u00fd softv\u00e9rov\u00fd estim\u00e1tor ot\u00e1\u010dok pracuj\u00faci na z\u00e1klade merania sp\u00e4tn\u00e9ho elektromotorick\u00e9ho nap\u00e4tia. Cel\u00e1 riadiaca slu\u010dka je rie\u0161en\u00e1 softv\u00e9rovo pomocou 8 bitov\u00e9ho mikrokontrol\u00e9ra Atmel.''\n\n\n[[Image:blokova.jpg|frame|right|Obr. 1. Blokov\u00e1 sch\u00e9ma regul\u00e1tora]]\n\n'''1. \u00davod'''\n\nV be\u017enej praxi prich\u00e1dzame do styku s r\u00f4znym n\u00e1rad\u00edm, ktor\u00e9 obsahuje jednosmern\u00fd motor s permanentn\u00fdmi magnetmi. Pr\u00edkladom s\u00fa akumul\u00e1torov\u00e9 v\u0155ta\u010dky, skrutkova\u010de, model\u00e1rske br\u00fasky, a in\u00e9. Tieto zariadenia s\u00fa v\u00e4\u010d\u0161inou riaden\u00e9 ve\u013emi jednoducho, v otvorenej regula\u010dnej slu\u010dke pomocou zmeny budiaceho nap\u00e4tia, pr\u00edpadne neobsahuj\u00fa \u017eiadnu regul\u00e1ciu. Pou\u017eitie regul\u00e1cie s uzavretou slu\u010dkou dok\u00e1\u017ee prida\u0165 t\u00fdmto zariadeniam viacero v\u00fdhod, medzi in\u00fdmi aj vy\u0161\u0161iu \u00fa\u010dinnos\u0165 pr\u00e1ce. Pou\u017eitie mikrokontrol\u00e9ra umo\u017e\u0148uje pou\u017eitie pokro\u010dil\u00fdch regula\u010dn\u00fdch met\u00f3d, ako aj jednoduch\u00e9 prisp\u00f4sobenie regula\u010dn\u00fdch parametrov a vlastnost\u00ed pod\u013ea po\u017eiadaviek pou\u017e\u00edvate\u013ea. Za cie\u013eov\u00e9 zariadenie pre tento regul\u00e1tor bola zvolen\u00e1 mal\u00e1 model\u00e1rska v\u0155ta\u010dka [1] pou\u017e\u00edvan\u00e1 na v\u0155tanie dosiek s plo\u0161n\u00fdmi spojmi, no mo\u017enosti vyu\u017eitia regul\u00e1tora s\u00fa v\u00e4\u010d\u0161ie. \n\n\n'''2. Hardv\u00e9r regul\u00e1tora'''\n\nZapojenie regul\u00e1tora pozost\u00e1va z troch hlavn\u00fdch \u010dast\u00ed: riadiacej, v\u00fdkonovej a sn\u00edmacej. Blokov\u00e1 sch\u00e9ma zapojenia je na Obr. 1. Kompletn\u00e1 sch\u00e9ma, n\u00e1vrh plo\u0161n\u00e9ho spoja a zdrojov\u00fd k\u00f3d je v arch\u00edve v \u010dasti 6 tohto \u010dl\u00e1nku. V tejto \u010dasti pr\u00e1ce si bli\u017e\u0161ie op\u00ed\u0161eme jednotliv\u00e9 bloky regul\u00e1tora.\n\n\n'''2.1. Motor'''\n\nPou\u017eit\u00fd je jednosmern\u00fd motor s permanentn\u00fdmi magnetmi s cudz\u00edm buden\u00edm. Tento typ motora umo\u017e\u0148uje ve\u013ek\u00fd rozsah regul\u00e1cie pomocou zmeny rotorov\u00e9ho nap\u00e4tia. Cie\u013eov\u00fa skupinu pre tento regul\u00e1tor tvoria motory mal\u00e9ho a\u017e stredn\u00e9ho v\u00fdkonu do 24 voltov. Z te\u00f3rie motorov si pribl\u00ed\u017eime len sp\u00e4tn\u00e9 indukovan\u00e9 nap\u00e4tie [2], na ktorom sa zaklad\u00e1 estim\u00e1cia ot\u00e1\u010dok motora. Sp\u00e4tn\u00e9 indukovan\u00e9 nap\u00e4tie je na svork\u00e1ch motora generovan\u00e9 podobne ako u dynama. Z\u00e1kladn\u00fd vz\u0165ah pre indukovan\u00e9 nap\u00e4tie motora je:\n[[Image:emf-vs-speed.jpg|frame|right|Obr. 2. Nameran\u00e1 z\u00e1vislos\u0165 indukovan\u00e9ho nap\u00e4tia od ot\u00e1\u010dok motora]]\n\n[[Image:vztah1.jpg]]\n\nkde Cu je nap\u00e4\u0165ov\u00e1 kon\u0161tanta, ktor\u00e1 predstavuje kon\u0161truk\u010dn\u00e9 vlastnosti motora (po\u010det a zapojenie vinut\u00ed), Fi je magnetick\u00fd tok a omega s\u00fa ot\u00e1\u010dky motora. Zo vz\u0165ahu je zrejm\u00e9, \u017ee indukovan\u00e9 nap\u00e4tie je priamo\u00famern\u00e9 ot\u00e1\u010dkam motora (Cu.Fi je kon\u0161tantn\u00e9). Toto potvrdzuje aj vykonan\u00e9 meranie, ktor\u00e9ho v\u00fdsledok je v grafe na Obr. 2. Nameran\u00e9 hodnoty nap\u00e4tia boli zosn\u00edman\u00e9 merac\u00edm algoritmom, ktor\u00fd bude pop\u00edsan\u00fd \u010dasti 3.1.\n\n\n'''2.2. V\u00fdkonov\u00e1 \u010das\u0165'''\n\nV\u00fdkonov\u00e1 \u010das\u0165 reguluje ve\u013ekos\u0165 budiaceho nap\u00e4tia motora. Pou\u017eit\u00e1 je sp\u00ednan\u00e1 regul\u00e1cia pomocou pulzno-\u0161\u00edrkovej modul\u00e1cie (PWM). Sp\u00ednan\u00e1 regul\u00e1cia znamen\u00e1, \u017ee ak\u010dn\u00fd \u010dlen je (v ide\u00e1lnom pr\u00edpade) v\u017edy bu\u010f \u00faplne otvoren\u00fd alebo \u00faplne uzavret\u00fd. Toto zabezpe\u010duje vysok\u00fa \u00fa\u010dinnos\u0165 (nevznikaj\u00fa tepeln\u00e9 straty v d\u00f4sledku \u00fabytku nap\u00e4tia na regula\u010dnom prvku). PWM znamen\u00e1 zmenu striedy (\u0161\u00edrky impulzu) riadiaceho periodick\u00e9ho sign\u00e1lu. Zmenou striedy sa men\u00ed efekt\u00edvna hodnota v\u00fdstupn\u00e9ho nap\u00e4tia. Ako sp\u00ednac\u00ed prvok je pou\u017eit\u00fd unipol\u00e1rny tranzistor mosfet IRF540 [3], ktor\u00fd dok\u00e1\u017ee sp\u00edna\u0165 pr\u00fad a\u017e 23A a jeho odpor v zopnutom stave je max. 77m\u03a9. V\u010faka mal\u00e9mu odporu nepotrebuje \u017eiadny chladi\u010d. Pre efekt\u00edvne budenie koncov\u00e9ho tranzistora je pou\u017eit\u00fd jednoduch\u00fd budi\u010d z bipol\u00e1rnych tranzistorov.\n\n\n'''2.3. Sn\u00edmacia \u010das\u0165'''\n\nT\u00e1to \u010das\u0165 sa star\u00e1 o filtr\u00e1ciu a n\u00e1sledn\u00e9 meranie veli\u010d\u00edn, potrebn\u00fdch v riadiacom procese. Meria sa nap\u00e4tie zdroja, nap\u00e4tie na z\u00e1pornej svorke motora (vo\u010di nap\u00e4tiu zdroja predstavuje indukovan\u00e9 nap\u00e4tie motora), a pr\u00fad motora. Nap\u00e4tie zdroja a motora je zmen\u0161en\u00e9 odporov\u00fdm deli\u010dom na rozsah A/D prevodn\u00edka a n\u00e1sledne vyfiltrovan\u00e9 dolno-priepustn\u00fdm RC filtrom kv\u00f4li odstr\u00e1neniu zvlnenia na vy\u0161\u0161\u00edch frekvenci\u00e1ch. Pr\u00fad sa meria na sn\u00edmacom odpore 0.1\u03a9 / 2W. Nap\u00e4tie na odpore je zv\u00e4\u010d\u0161en\u00e9 opera\u010dn\u00fdm zosil\u0148ova\u010dom a n\u00e1sledne vyfiltrovan\u00e9 tak ako v predch\u00e1dzaj\u00facom pr\u00edpade. Takto upraven\u00e9 veli\u010diny sa meraj\u00fa A/D prevodn\u00edkmi, ktor\u00e9 s\u00fa zap\u00fazdren\u00e9 v mikrokontrol\u00e9ri.\n\n\n'''2.4. Riadiaca \u010das\u0165'''\n\nRiadiacu \u010das\u0165 tvor\u00ed 8 bitov\u00fd mikrokontrol\u00e9r Atmel ATmega8 [4], ktor\u00fd obsahuje v\u0161etky potrebn\u00e9 perif\u00e9rie (A/D prevodn\u00edk, PWM gener\u00e1tor, \u010dasova\u010d, ..) priamo na \u010dipe. Toto ve\u013emi zjednodu\u0161uje zapojenie riadiacej \u010dasti, nako\u013eko cel\u00fd riadiaci syst\u00e9m je rie\u0161en\u00fd softv\u00e9rovo. K riadiacej \u010dasti patria aj perif\u00e9rie pre \u201ekomunik\u00e1ciu\u201c s pou\u017e\u00edvate\u013eom, a to: potenciometer pre nastavenie \u017eiadan\u00fdch ot\u00e1\u010dok, LED di\u00f3da pre indik\u00e1ciu stavu a tla\u010didlo pre zmenu regula\u010dn\u00e9ho re\u017eimu.\n\n\n'''3. Softv\u00e9r regul\u00e1tora''' \n\nSoftv\u00e9r regul\u00e1tora zabezpe\u010duje tieto hlavn\u00e9 \u00falohy, ktor\u00e9 be\u017eia v nekone\u010dnej slu\u010dke:\n\n\u2022\tmeranie indukovan\u00e9ho nap\u00e4tia\n\n\u2022\testim\u00e1cia aktu\u00e1lnych ot\u00e1\u010dok\n\n\u2022\tPSD algoritmus regul\u00e1cie budenia\n\n\u2022\tautomatick\u00e9 prep\u00ednanie medzi pokojov\u00fdmi a pracovn\u00fdmi ot\u00e1\u010dkami\n\n\u2022\tinterakcia s pou\u017e\u00edvate\u013eom\n\n\u2022\tprenos d\u00e1t a konfigur\u00e1cia nastaven\u00ed cez s\u00e9riov\u00fa linku\n\n\nProgram bol nap\u00edsan\u00fd v jazyku C vo v\u00fdvojovom prostred\u00ed AVR Studio, skompilovan\u00fd preklada\u010dom AVR-GCC. V tejto \u010dasti pr\u00e1ce si pribl\u00ed\u017eime jednotliv\u00e9 \u00falohy softv\u00e9ru.\n\n\n'''3.1. Meranie indukovan\u00e9ho nap\u00e4tia'''\n\n[[Image:measuring-emf.jpg|frame|right|Obr. 3. Ilustra\u010dn\u00fd priebeh nap\u00e4tia na motore]]\n\nMeranie indukovan\u00e9ho nap\u00e4tia na motore tvor\u00ed z\u00e1kladn\u00fd stavebn\u00fd blok cel\u00e9ho regul\u00e1tora. Pod\u013ea tohto nap\u00e4tia vieme ur\u010di\u0165 aktu\u00e1lne ot\u00e1\u010dky motora, potrebn\u00e9 pre uzavretie regula\u010dnej slu\u010dky. Z\u00e1kladn\u00e1 te\u00f3ria t\u00fdkaj\u00faca sa tohto nap\u00e4tia je pop\u00edsan\u00e1 v \u010dasti 2.1. Teraz sa pozrieme bli\u017e\u0161ie na problematiku merania tejto veli\u010diny.\nIndukovan\u00e9 elektromotorick\u00e9 nap\u00e4tie vznik\u00e1 na motore vplyvom jeho ot\u00e1\u010dania. Aby ho bolo mo\u017en\u00e9 zmera\u0165, mus\u00ed by\u0165 budenie motora vypnut\u00e9. Nasleduj\u00faci obr\u00e1zok pribli\u017euje priebeh nap\u00e4tia na svork\u00e1ch motora po\u010das merania:\n\nV priebehu na Obr. 3 n\u00e1s zauj\u00edma \u00fasek s vypnut\u00fdm buden\u00edm. Po vypnut\u00ed budenia nasleduje z\u00e1porn\u00fd prekmit sp\u00f4soben\u00fd induk\u010dnos\u0165ou motora. Trvanie prekmitu z\u00e1vis\u00ed od za\u0165a\u017eenia motora. Nesk\u00f4r nast\u00e1va ust\u00e1lenie hodnoty indukovan\u00e9ho nap\u00e4tia, ktor\u00e9 je priamo\u00famern\u00e9 ot\u00e1\u010dkam motora, a toto nesk\u00f4r kles\u00e1 pr\u00ed\u010dinou spoma\u013eovania motora. Z toho je zrejm\u00e9, \u017ee meranie mus\u00ed by\u0165 vykonan\u00e9 v \u00faseku stabilnej hodnoty nap\u00e4tia. Toto je rie\u0161en\u00e9 oneskoren\u00edm merania o 4 milisekundy od vypnutia budenia (t\u00e1to hodnota sa osved\u010dila ako dostato\u010dn\u00e1). N\u00e1sledne je zosn\u00edman\u00fdch 16 vzoriek a v\u00fdsledkom merania je ich priemern\u00e1 hodnota. Toto meranie sa vykon\u00e1va 15 kr\u00e1t za sekundu a cel\u00e9 trv\u00e1 pribli\u017ene 5 milisek\u00fand.\n\n\n'''3.2. Estim\u00e1cia aktu\u00e1lnych ot\u00e1\u010dok'''\n\nHodnota aktu\u00e1lnych ot\u00e1\u010dok motora je priamo\u00famerne ur\u010den\u00e1 z indukovan\u00e9ho nap\u00e4tia v pomere ku maxim\u00e1lnej hodnote indukovan\u00e9ho nap\u00e4tia. Maxim\u00e1lna hodnota indukovan\u00e9ho nap\u00e4tia sa pri maxim\u00e1lnych ot\u00e1\u010dkach pribli\u017euje k hodnote nap\u00e1jacieho nap\u00e4tia. Toto je z\u00e1visl\u00e9 od konkr\u00e9tneho motora, a preto je pri inicializ\u00e1cii nastaven\u00e1 na 80% z nap\u00e1jacieho nap\u00e4tia a nesk\u00f4r za behu priebe\u017ene aktualizovan\u00e1 pod\u013ea priemeru zo 4 po sebe id\u00facich meran\u00ed indukovan\u00e9ho nap\u00e4tia.\n\n\n'''3.3. PSD regula\u010dn\u00fd algoritmus'''\n\nAko regula\u010dn\u00fd algoritmus je implementovan\u00fd PSD (proporcion\u00e1lne suma\u010dno diferen\u010dn\u00fd), ktor\u00fd vych\u00e1dza z klasick\u00e9ho PID algoritmu [5]. Jeho absol\u00fatny tvar je vyjadren\u00fd vz\u0165ahom (pr\u00edrastkov\u00e1 forma):\n\n[[Image:vztah2.jpg]]\n\nkde y je hodnota budenia, e je rozdiel skuto\u010dnej a \u017eiadanej hodnoty ot\u00e1\u010dok, K s\u00fa regula\u010dn\u00e9 kon\u0161tanty.\n\n\n'''3.4. Prep\u00ednanie ot\u00e1\u010dok''' \n\n[[Image:stavovy-diagram.jpg|frame|right|Obr. 4. Stavov\u00fd diagram regul\u00e1tora v re\u017eime automatick\u00e9ho prep\u00ednania ot\u00e1\u010dok]]\nRegul\u00e1tor disponuje re\u017eimom automatick\u00e9ho prep\u00ednania medzi pokojov\u00fdmi a pracovn\u00fdmi ot\u00e1\u010dkami. Re\u017eim ot\u00e1\u010dok sa vyhodnocuje pod\u013ea za\u0165a\u017eenia motora a spr\u00edjem\u0148uje pr\u00e1cu s v\u0155ta\u010dkou. Pri behu v\u0155ta\u010dky bez za\u0165a\u017eenia (mimo v\u0155tania) regul\u00e1tor nastav\u00ed pomal\u00e9 pokojov\u00e9 ot\u00e1\u010dky, ktor\u00e9 s\u00fa nielen pr\u00edjemnej\u0161ie pre sluch pou\u017e\u00edvate\u013ea, ale aj umo\u017e\u0148uj\u00fa presnej\u0161ie zacielenie v\u0155tan\u00e9ho bodu v\u010faka men\u0161\u00edm vibr\u00e1ci\u00e1m v\u0155ta\u010dky. Pri prilo\u017een\u00ed vrt\u00e1ka k v\u0155tanej ploche sa ot\u00e1\u010dky automaticky prepn\u00fa na r\u00fdchle, pracovn\u00e9, ktor\u00e9 sa udr\u017euj\u00fa po\u010das v\u0155tania. Po skon\u010den\u00ed v\u0155tania regul\u00e1tor zaznamen\u00e1 od\u013eah\u010denie motora a nastav\u00ed ot\u00e1\u010dky nasp\u00e4\u0165 na pokojov\u00e9. Zjednodu\u0161en\u00fd stavov\u00fd diagram popisuj\u00faci tento re\u017eim je na Obr. 4.\nK vyhodnoteniu z\u00e1\u0165a\u017ee je pou\u017eit\u00e1 nameran\u00e1 z\u00e1vislos\u0165 pr\u00fadu od ot\u00e1\u010dok pre pou\u017eit\u00fd motor. T\u00e1to sa meria pri kalibr\u00e1cii regul\u00e1tora na konkr\u00e9tny motor. Kalibr\u00e1cia sa spust\u00ed dlh\u00fdm stla\u010den\u00edm ovl\u00e1dacieho tla\u010didla a pozost\u00e1va z rozto\u010denia motora na pln\u00e9 ot\u00e1\u010dky a n\u00e1sledn\u00e9 odmeranie pr\u00fadovej charakteristiky. Nameran\u00e9 hodnoty sa ukladaj\u00fa do pam\u00e4te EEPROM. Kalibr\u00e1cia trv\u00e1 len pribli\u017ene 4 sekundy. Pri pou\u017eit\u00ed in\u00e9ho nap\u00e1jacieho nap\u00e4tia alebo v\u0155ta\u010dky, treba regul\u00e1tor znova prekalibrova\u0165 pre zabezpe\u010denie spr\u00e1vnej funkcie. Tento sp\u00f4sob kalibr\u00e1cie je nutn\u00fd pre zachovanie univerz\u00e1lnosti regul\u00e1tora pre r\u00f4zne motory.\n\n\n'''3.5. Interakcia s pou\u017e\u00edvate\u013eom'''\n\nOvl\u00e1danie regul\u00e1tora bolo navrhnut\u00e9 pre maxim\u00e1lnu jednoduchos\u0165 obsluhy. Obsahuje potenciometer pre nastavenie \u017eelan\u00fdch pracovn\u00fdch ot\u00e1\u010dok, tla\u010didlo pre zmenu regula\u010dn\u00e9ho re\u017eimu (zapnutie/vypnutie automatick\u00e9ho prep\u00ednania na pokojov\u00e9 ot\u00e1\u010dky), a indika\u010dn\u00fa dvojfarebn\u00fa LED di\u00f3du pre indik\u00e1ciu re\u017eimu a pre\u0165a\u017eenia. Tla\u010didlo pln\u00ed aj sekund\u00e1rnu \u00falohu, a to spustenie kalibr\u00e1cie pri jeho dlh\u0161om stla\u010den\u00ed. Kalibr\u00e1cia je pop\u00edsan\u00e1 v 3.4.\n\n\n'''3.6. Prenos d\u00e1t po s\u00e9riovej linke'''\n\nRegul\u00e1tor je vybaven\u00fd mo\u017enos\u0165ou komunik\u00e1cie cez s\u00e9riov\u00fa linku v \u00farovni TTL 5V. T\u00e1to mo\u017enos\u0165 bola implementovan\u00e1 pre testovacie a experiment\u00e1lne \u00fa\u010dely. Parametre komunik\u00e1cie s\u00fa: r\u00fdchlos\u0165 19200 baudov, ve\u013ekos\u0165 r\u00e1mca 8 bitov, \u017eiadna parita.\nRiadiace pr\u00edkazy:\n\n\u2022\t\u2018X\u2019 \u2013 zapnutie / vypnutie posielania d\u00e1t o aktu\u00e1lnych veli\u010din\u00e1ch. Po zapnut\u00ed tejto vo\u013eby regul\u00e1tor posiela \u0161estice bytov vo form\u00e1te:\n0 A B C D E, kde \u20180\u2019 je inicializa\u010dn\u00fd byte, \u2018A\u2018 je nastaven\u00e1 hodnota ot\u00e1\u010dok, \u2018B\u2018 je hodnota nap\u00e1jacieho nap\u00e4tia, \u2018C\u2019 je aktu\u00e1lna hodnota ot\u00e1\u010dok, \u2018D\u2019 je hodnota odoberan\u00e9ho pr\u00fadu, a \u2018E\u2019 je hodnota v\u00fdstupnej striedy PWM sign\u00e1lu. V\u0161etky hodnoty s\u00fa relat\u00edvne s rozsahom 0-255.\n\n\u2022\t\u2018?\u2019 \u2013 inform\u00e1cia o aktu\u00e1lnych hodnot\u00e1ch regula\u010dn\u00fdch kon\u0161t\u00e1nt v porad\u00ed KP, KS a KD.\n\n\u2022\t\u2018P\u2019, \u2018S\u2019, \u2018D\u2019 a \u2018p\u2019, \u2018s\u2019, \u2018d\u2019, sl\u00fa\u017eia na zv\u00fd\u0161enie, respekt\u00edve zn\u00ed\u017eenie, konkr\u00e9tnej regula\u010dnej kon\u0161tanty o definovan\u00fd krok.\n\n\n'''4. Odozva regul\u00e1tora'''\n\nPomocou mo\u017enosti sledova\u0165 regula\u010dn\u00e9 veli\u010diny cez s\u00e9riov\u00fa linku, boli vykonan\u00e9 nasleduj\u00face merania regul\u00e1tora v praxi:\n\n[[Image:meranie1.jpg|frame|left|Obr. 5. Priebeh regula\u010dn\u00fdch veli\u010d\u00edn pri v\u0155tan\u00ed diery]]\n\nV prvom experimente bola v\u0155ta\u010dkou vyv\u0155tan\u00e1 diera do dosky s plo\u0161n\u00fdmi spojmi. Priebeh regula\u010dn\u00fdch veli\u010d\u00edn je zobrazen\u00fd v grafe na Obr. 5. V \u010dase pribli\u017ene 0,4s sa v\u0155tanie za\u010dalo a v \u010dase pribli\u017ene 1,3s skon\u010dilo. Odozva regul\u00e1tora na dan\u00fa situ\u00e1ciu je ve\u013emi dobr\u00e1.\n\n[[Image:meranie2.jpg|frame|right|Obr. 6. Priebeh regula\u010dn\u00fdch veli\u010d\u00edn pri ru\u010dnom zastaven\u00ed a pusten\u00ed motora]]\n\nDruh\u00fd experiment spo\u010d\u00edval v zisten\u00ed reakcie regul\u00e1tora na prudk\u00e9 zastavenie a pustenie motora rukou. Priebeh regula\u010dn\u00fdch veli\u010d\u00edn po\u010das tohto experimentu je zobrazen\u00fd v grafe na Obr. 6. V \u010dase pribli\u017ene 0,55s do\u0161lo k zastaveniu motora a v \u010dase pribli\u017ene 1,2s k jeho pusteniu. Prekmit regul\u00e1cie ot\u00e1\u010dok po pusten\u00ed motora je v tomto extr\u00e9mnom pr\u00edpade pre t\u00fato aplik\u00e1ciu prijate\u013en\u00fd.\n\n\nV poslednom experimente bol vyraden\u00fd PSD regul\u00e1tor, \u010di\u017ee motor bol riaden\u00fd priamo pomocou pevne nastaven\u00e9ho PWM (Obr. 7). Op\u00e4\u0165 bola vyv\u0155tan\u00e1 diera do dosky s plo\u0161n\u00fdmi spojmi. V\u0155tanie za\u010dalo pribli\u017ene v \u010dase 0,5s a skon\u010dilo pribli\u017ene v \u010dase 1,35s. Z grafu je vidite\u013en\u00fd zna\u010dn\u00fd pokles ot\u00e1\u010dok pri z\u00e1\u0165a\u017ei.\n\n[[Image:meranie3.jpg|frame|left|Obr. 7. Priebeh regula\u010dn\u00fdch veli\u010d\u00edn pri v\u0155tan\u00ed diery s vyraden\u00fdm PSD regul\u00e1torom]]\n\n\n\n'''5. Z\u00e1ver'''\n\nRegul\u00e1tor op\u00edsan\u00fd v tejto pr\u00e1ci splnil v\u0161etky stanoven\u00e9 po\u017eiadavky a predstavuje ve\u013emi u\u017eito\u010dn\u00fa pom\u00f4cku v praxi. Jeho zapojenie bolo pou\u017eit\u00e9 ako s\u00fa\u0165a\u017en\u00e9 zadanie na viacer\u00fdch s\u00fa\u0165a\u017eiach pre stredn\u00e9 a z\u00e1kladn\u00e9 \u0161koly v elektronike (medzi in\u00fdmi aj celoslovensk\u00e9 kolo s\u00fa\u0165a\u017ee ZENIT), a jeho kvalita bola otestovan\u00e1 na viac ako 70 vyroben\u00fdch kusoch.\n\n\n'''6. Pr\u00edlohy'''\n\n[[{{ns:media}}:materialy.zip]]\n\n\n'''7. Pou\u017eit\u00e1 literat\u00fara''' \n\n\n[1]\tKatal\u00f3gov\u00e9 parametre model\u00e1rskej v\u0155ta\u010dky Bionic AD-19, http://www.beverley.com.hk\n\n[2]\t\u010cADIL a kol.: Elektrick\u00e9 pohony, SNTL Praha, 1976\n\n[3]\tKatal\u00f3gov\u00fd list tranzistora IRF540, www.alldatasheet.com\n\n[4]\tElektronick\u00e1 dokument\u00e1cia firmy Atmel k obvodu ATmega8, http://www.atmel.com\n\n[5]\tPID regul\u00e1tor, http://en.wikipedia.org/wiki/PID_controller\n\n\nAutor: Tom\u00e1\u0161 Pavl\u00ed\u010dek, xpavlicek [at] gmail [bodka] com"
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"2701": {
"pageid": 2701,
"ns": 0,
"title": "Reproducing a learned geometrical object using drawing pen of Robotnacka robot",
"revisions": [
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"contentformat": "text/x-wiki",
"contentmodel": "wikitext",
"*": "''Matej \u0160vantner, Samuel Sit\u00e1\u0161''\n\n== Intro ==\n\nThis project uses Robotnacka robot, which is equipped with six binary sensors on the bottom, which report log.0 when there is white colour under the sensor and log.1 when black.\n\nThis robot also has five ultrasonic sensors, our program is equipped with routines for their periodic checking and showing in canvas, but the main part of the project is using reflective sensors on the bottom.\n\nThe program is functional, but nowhere near final stage. However, main parts work, and that's important.\n\n== Main functions ==\n\nAplication has two main functions. First is reproducing geometrical shape drawed on the floor. Robot travels along the lines and when finds out that it completed the \"circle\" and returned to the start coordinates, stops (hopefully).\n\nThis shape is exported to textfile specified in one of the textfields. All buttons and fields have tooltips, so if you are not sure what the button does, hover cursor over it.\n\nTextfile is an ordinary csv/txt format, each line contains X and Y coordinates separated by ';'.\n\nSecond important function is reproducing this recorded shape by drawing with pen of the robot. You just have to type the filename into second textfield and press a button.\n\n[[{{ns:image}}:Captureanddraw.png|width|500px]]\n\n[[{{ns:image}}:Captureanddraw1.png|width|500px]]\n\n== Algorithm ==\n\nRobot uses custom algorithm for line following. It tries to keep front sensor near the edge, but in the black part. While it is on the black, robot goes forward and reports sensor coordinates to textfile. Careful, it reports SENSOR XY, not robot's XY (which are in the center of the robot). We need sensor's XY for precise representation.\n\nWhen the sensor comes out of black, robot turns slightly to left and right, if it finds black, continues. If there is no black (sharp turn etc.), robot starts special procedure. It enables all 6 sensors, slightly turns and therefore gets knowledge about 360\u00b0 circle. It compares, whether it is closer to the black line turning left or right and turns that way. \n\n== Drawing algorithm ==\n\nWe can not use direct coordinates. Robotnacka doesn't know where it is and you can't tell it to go to XY coordinates. Therefore we always need to use two successive ([n] and [n+1]) points with XY coordinates. From these points we make a vector, we calculate its length and direction using trigonometry. Then we tell the robot which direction should it turn and how many steps forward should it go.\n\n== Downloads ==\n\nAll videos are slow, recorded in real time. It is recommended to use good player a.k.a VLC and speed them up few times.\n\nCapturing a star shape\n\n[[{{ns:media}}:v5_capture.wmv]]\n\nDrawing a star shape\n\n[[{{ns:media}}:v5_draw_good.wmv]]\n\nComplete archive with videos, source code, and whole NetBeans Project\n\n[[{{ns:media}}:RobotnackaCaptureAndDraw.zip]]"
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