Codientu Org Threads Gioi Thieu Cam Bien Gyro Mpu6050 CB Van

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ng 6/7/13 #1
tba150990
K s
S bi vit: 114
c thch: 152
25/6/2014: Danh sch thnh vin nhn KIT nh ti tr Nuvoton t I
Chia s - Gii thiu cm bin Gyro MPU6050 ( CB vn tc gc) trong Robocon
Tho lun trong 'Robot'
ang xem ch ny ( Thnh vin: 0, Khch: 2)
Di y l nhng g mnh s dng trong ma Robocon 2013 v kh n. Mong mi ngi gp thm v l ln u
s dng nn c kh nhiu thiu st.
- tng v l do s dng: Sn Robot nm 2013 nh cc bn thy c rt t line v hu ht l line cong nn vic d
ng theo line s lm tc robot gim ng k. (ci ny l do phng n chy, i mnh s dng th tng ring
mt nn vic chy theo ng thng k theo cc ring l nhanh nht). Nn yu cu c t ra l Robot chy thng
c theo 1 ng gi nh. quay chnh xc gc m t nh hng n yu t bn ngoi.
-Ti sao l Gyro m ko phi l la bn s: theo nh cc bn bit th la bn s nh hng nhiu vo kim loi c t
Trang ch Din n H thng C in t Sn phm - D n. Robot
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tnh. m sn nm 2013 dng vin hon ton bng st nn kh nng nh hng bi sn thi u rt cao.
-u im ca Gyro:
+Quay vi gc chnh xc
+t ph thuc yu t bn ngoi
+Kh r. Module GY521 ti mt s ni bn c 200k thi.
+Thut ton lp trnh kh n gin.
+Chun giao tip I2C
-Nhc im:
+D tri im gc. Nhng chng tri n th chy ht trn vn c th c chnh xc cao.
+Mnh hay gp trng hp b treo chip do vic c Gyro phi thc hin trong ngt timer. Mnh li dng mt s ngt
na nn hay xy ra trng hp xung t ngt. @@. Sau ny mnh hn ch x l s liu trong ngt timer nn cng
khc phc c li nhng vn khng dm chc l ht li.
-Hnh nh thc t:

-Hm Init MPU6050: ti liu hng dn ca PNlab n gin hn. ci ny mnh tm hiu khi cha c ti liu ting
vit m da ch yu vo cc code v ti liu ca cc trang my bay m hnh ca nc ngoi nn lng nhng. @@.
M:

void init_sensor_Gyro_MPU6050(void)

{

delay_ms(10);

i2c_writereg(MPU6050_ADD,0x6b,0x80); //reset device, reset cam bien

delay_ms(5);

i2c_writereg(MPU6050_ADD,0x6b,0x00); //cam bien hoat dong

i2c_writereg(MPU6050_ADD,0x19,0x00); //Sample Rate Divider = 0; cai nay minh khong hieu lam. @@

i2c_writereg(MPU6050_ADD,0x1a,0x00); //Configuration;

i2c_writereg(MPU6050_ADD,0x1b,0x10); //Gyroscope Configuration; 0-8-10-18 ; do phan giai Gyro la 1000do/s

i2c_writereg(MPU6050_ADD,0x6a,0x00); //User Control; Con MPU6050 co kha nang lam master

//cua 1 so con c chuan truyen I2C khac, o day khong dung nen khong config

i2c_writereg(MPU6050_ADD,0x37,0x02);

}

-Hm ly gi tr trong timer: do con ny tr v gi tr l vn tc gc nn ta tin hnh thc hin php tch phn c gi
tr gc do phi a vic tnh ton vo ngt timer.
M:
// Timer2 overflow interrupt service routine
interrupt [TIM2_OVF] void timer2_ovf_isr(void)
{
// Reinitialize Timer2 value
TCNT2=0x60;
gyroADC[2]=-read_gyro_Z();
goc=goc + ((float)gyroADC[2]+12.34)*0.0595/3.28; //GY-521
// [a] [b] [c]
// 00 0 250 131
// 08 1 500 65.5
// 10 2 1000 32.8
// 18 3 2000 16.4

}
Mt s ch trong chng trnh:
+ [a]: l h s chng tri. mi cm bin s c mt gi tr khc nhau. tm h s ny, cc bn cho hin th gi tr
ADC c c ca trc Z ln LCD khi cm bin NG YN hon ton. [a]=-(gi tr c c). ADC ca trc Z l s
nguyn 16 bit c du. c chnh xc cao th ta p kiu qua s thc tnh ton. V d nh trn, khi hin th ADC
Z th gi tr s dao ng xung quanh gi tr -12. c th l 11-14 nhng gi tr -12 s hin th nhiu nht. Cc bn thay
[a] vo v cho hin th gi tr gc khi CB NG YN. cc bn s thy tuy khng di chuyn cm bin nhng gi tr
gc vn tng hoc gim. gi bc tinh chnh s thuc v cc bn c gi tr 12,34 nh ca mnh. mi cm bin
mi a im khc nhau s c 1 gi tr khc nhau nh. Cc bn c th thc hin c Gyro ly mu 100 ln khi CB
ng yn ri chia ra cng c gi tr ny. Cc trang nc ngoi thng lm th. Song mnh thy mi lc mi khc
nn vn p dng phng php th cng. @@
+[ b ]: thi gian ly mu. Tu vo gi tr timer ca cc bn. Sau khi chng tri xong th vic tip theo ca cc bn l
m bo quay ng gc. a cm bin ln b mt phng hon ton, quay 1 gc m cc bn c th xc nh c
chnh xc gc quay, i chiu vi gi tr gc hin th trn LCD. Cc bn tin hnh tinh chnh b c gi tr gc
chnh xc. Tng hoc gim mt lng rt nh.
+[c]: phn gii ca cm bin khi bn config. [c] chnh xc l s bt trn mt n v vn tc. nh trn config th
mnh chn kh nng lm vic ca cm bin l 1000 /s nn c=32.8. tuy nhin t chnh xc cao hn th
mnh chn c=3.28. l s bt trn 0,1 n v vn tc. Do thay v ta quay 1 gc 90 th gi tr gc tr v l 900.

Kch thc: 7.3 MB
c: 1,151
GY521mpu_6050.rar
GY521mpu_6050.rar
Kch thc: 120.2 KB
c: 734
test lib GY521 6050 26_2_2013.rar
test lib GY521 6050 26_2_2013.rar
Kch thc: 56.6 KB
Code_Test_MPU-6050 MinhHa.rar
Code_Test_MPU-6050 MinhHa.rar
Kch thc: 118.8 KB
test lib GY86 TBA150990.rar
test lib GY86 TBA150990.rar
Quan trng nht y vn l vic chng tri. cc bn chng tri tt c th 3 pht thi u ch tri 3 l cng. sai
s cho php c.
file nh km ca mnh c 2 file nn. file GY521mpu_6050.rar l mnh ly t trang PNLab. file cn li l mnh
dng lm th vin chun ca mnh. vit bng Codevision
Cch kt ni v g t cm bin trn Robot:
-Nh hnh cm bin th cc bn ch cn quan tm n 4 chn u tin ca cm bin l:GND, VCC, SDA, SCL.
+GND v VCC l 2 chn ngun ca cm bin. p l 5V. MPU6050 ch hot ng in p 3v3. tuy nhin trn
module GY521 chuyn i in p nn mnh khng phi lo vn ny.
+SDA v SCL th cc bn kt ni theo chun I2C nh cc thit b I2C khc.
-G t trn Robot. y mnh ch dng trc Z xc nh gc quay do sn nm ny ko c mt phng nghing. vi
cc sn c gc nghing th cc bn phi tnh thm c trc X v Y c chnh xc. Khi cc bn dng trc Z th
cm bin nm phng sao cho hng trc Z trn cm bin hng ln trn. c gng cng hng ln trn cng tt
trnh sai s. nn g khung robot hn ch xe dch nht. trnh xa cc ng c, cun dy v cc thit b ny c
t trng v nhiu ln ln bus I2C ca mnh. CB th khng b nhiu nhng Bus truyn rt d nh hng. c th g
lun ln trn mch. Nhng lc ny th phi g mch c nh hon ton.
Gp thm cho cc bn. Nu cc bn dng cho my bay m hnh th c th dng module GY86. gi by gi kh
r. nm ngoi mnh mua l 1200k. hin gi cn 700k PNLab v 500k thegioiic. Module ny tch hp
MPU6050(Gyro, Acc, Nhit ), HMC5883L(Mag hay la bn s) v MS5611 (CB p sut). Khi dng module ny
cc bn nn ch con la bn. v giao tip vi n, cc bn phi giao tip vi con MPU6050 nh mnh gii thch
trn. con MPU6050 s lm master v con HMC5883L lm slaver ca con ny. Cch giao tip cc bn c th tham
kho code mnh di y.
Cc file nh km:
c: 628 c: 553
Ch cng chuyn mc
my bay quadrotor
Cn mua vch st t cho Cm bin tim...
OPENGL vi visual studio 2008 (window...
Cho mnh xin ti liu v robot tay my...
Xin hng dn thit k cnh tay robot
Robot RHex
ng lc hc robot
ng dng gii thut Fuzzy vo xe d Line
ng c servo & khp robot
lp trnh PID iu khin mobile robot
Chia s

Gii thiu cm bin Gyro MPU6050 ( CB vn tc gc) trong Robocon ~~> http://codientu.org/threads/gioi-thieu-cam-bien-gyro-mpu6050-cb-van-toc-goc-trong-robocon.6894/ :x

0

phongvan2016, intact, Trnh Quang v 16 others thch bi ny.
#1
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thank bn, minh ang cn cai nay
Reply Like April 3 at 6:24pm
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Reply Like July 13 at 10:39pm
ng 6/7/13 #2
daotruongpro thch bi ny.
#2
trimyka
VI P
S bi vit: 545
c thch: 965
ng 6/7/13 #3
giang926 v trimyka thch bi ny.
#3
chulinhtre
myselfHungNN
S bi vit: 433
c thch: 761
Bi vit rt hay... cm n bn chia s... nhng bn c th cho thng tin thm v phn cng c khng v d
sensor kt ni vi h thng iu khin nh th no...
Ci ny n dng giao thc I2C thi anh .
Ci cn tm hiu l cc cu trc m lnh gi xung n v cu trc cu tr li ln MCU, v ta c th lc ly thng tin
cn thit!
Facebook social plugin
ng 6/7/13 #4
giang926, mta_cdt, trimyka v 1 thnh vin khc thch bi ny.
#4
chulinhtre
myselfHungNN
S bi vit: 433
c thch: 761
ng 6/7/13 #5
tba150990
K s
S bi vit: 114
c thch: 152
Topic nghin cu khoa hc: Dng Kalman Filter lc gi tr o c ca cm bin xc nh gi tr quay thc t
ca xe.
V Kalman Filter th c th hiu n gin th ny. (Problem statement)
1. N l 1 thut ton, dng c lng gi tr ca mt i lng no ( y l gc), m cm bin c sai s, cng
nh m hnh khng chnh xc ( y l hiu bit v kh nng quay ca ci xe). C th hn nh sau:
2. Nu ch n thun ly gi tr gc t cm bin th do nhiu m cm bin khng phn nh ng gc thc t ci xe
quay c. (bi vit ca ch topic mi gii quyt ch ny)
3. Nu ch n thun l c thng s v kh nng quay ca ci xe, gi thit nh pht lnh cho hai ng c tri v
phi xe quay, nhn vi thi gian th c th bit robot quay c 1 gc no y.
Nu kt hp c thng tin t 2 v 3 th c th c lng c chnh xc hn v gi tr, phn nh chnh xc v gc
quay ca robot.
Thn.
Ci ny truyn theo giao thc I2C bn . mnh update cch kt ni v g t. Mnh s update cch ly gi tr sau.
giang926 v trimyka thch bi ny.
#5
ng 6/7/13 #6
#6
trimyka
VI P
S bi vit: 545
c thch: 965
ng 6/7/13 #7
tba150990
K s
S bi vit: 114
c thch: 152
ti v mnh nhn thy cc k hiu trc X v Y trn bo mch ... nn thc mc khng bit c s dng g trong lp rp
khng...
Mnh cng tng xem qua b lc Kalman. nhng p dng vo Robot mnh thy kh nn khng nghin cu na:
-Kh xc nh ng tc robot. Robot chy trn sn nh hng rt ln n b mt sn. mnh khng th tnh ton
ht s trt bnh xe vi mt sn, mi lc mi khc ch khng ln no ging ln no.
Topic nghin cu khoa hc: Dng Kalman Filter lc gi tr o c ca cm bin xc nh gi tr
quay thc t ca xe.
V Kalman Filter th c th hiu n gin th ny. (Problem statement)
1. N l 1 thut ton, dng c lng gi tr ca mt i lng no ( y l gc), m cm bin c
sai s, cng nh m hnh khng chnh xc ( y l hiu bit v kh nng quay ca ci xe). C th hn
nh sau:
2. Nu ch n thun ly gi tr gc t cm bin th do nhiu m cm bin khng phn nh ng gc thc t
ci xe quay c. (bi vit ca ch topic mi gii quyt ch ny)
3. Nu ch n thun l c thng s v kh nng quay ca ci xe, gi thit nh pht lnh cho hai ng c Xem thm. . .
chulinhtre v trimyka thch bi ny.
#7
ng 6/7/13 #8
chulinhtre
myselfHungNN
S bi vit: 433
c thch: 761
-Mnh p dng vo Robot m khng cn b lc vn chy n nh nn mnh khng c nh dng thm b lc. mi
trn u l 3 pht tuy nhin con t ng ch hot ng 11-12s nn cng khng nh hng lm.
Mnh ch dng trc Z nn trc X, Y quay hng no cng c nhng trc Z buc phi vung gc vi mt sn. khi
khi ng mnh cho gi tr gc=0 th mnh xem nh l gc to lun.
tba150990 said:
Ci kalman gain (K) l 1 trng s, ta nn "tin" vo gi tr cm bin o v, hay gi tr m ta t suy ra c t m
hnh ha ci xe.
Do thc t y l sai s do con cm bin b (hay ni ng ra l cm bin chnh xc), nn ta "tin" vo gi tr ca
cm bin l ng v hp l, ch ai li "tin" vo ci m hnh ci xe khng chnh xc, "o bng" thm c khi li
mang ha (ngha l mt chnh xc i nhiu).
V mt l thuyt, nu kt hp c c hai thng tin trn th c th gi tr v gc o c phn nh chnh cc gi tr
gc ca robot.
ti v mnh nhn thy cc k hiu trc X v Y trn bo mch ... nn thc mc khng bit c s dng g
trong lp rp khng...
Mnh cng tng xem qua b lc Kalman. nhng p dng vo Robot mnh thy kh nn khng nghin cu
na:
-Kh xc nh ng tc robot. Robot chy trn sn nh hng rt ln n b mt sn. mnh khng th
tnh ton ht s trt bnh xe vi mt sn, mi lc mi khc ch khng ln no ging ln no.
-Mnh p dng vo Robot m khng cn b lc vn chy n nh nn mnh khng c nh dng thm b
lc. mi trn u l 3 pht tuy nhin con t ng ch hot ng 11-12s nn cng khng nh hng lm.
giang926, trimyka, sgesvn v 1 thnh vin khc thch bi ny.
#8
ng 6/7/13 #9
giang926 thch bi ny.
#9
tba150990
K s
S bi vit: 114
c thch: 152
ng 6/7/13 #10
chulinhtre
myselfHungNN
S bi vit: 433
c thch: 761
Th nn mnh mi xut l NCKH ( hc)
ci ny kt hp PID n n th chc chi c. hihi.
tba150990 said:
H h, bi ton mnh xut vi ci trn l khc nhau ri
Mnh mi cp n vic lm sao o lng chnh xc thi
trong khi PID li gii quyt bi ton khc, tc l iu khin chnh xc theo yu cu.
ci ny kt hp PID n n th chc chi c. hihi.
Cng ng ca nhng ngi am m k thut, ni trao i, tho lun, hi
p nhng vn lin quan n k thut. Website ang hot ng th
nghim, ch giy php MXH ca B TT & TT. Chng ti khng chu trch
nhim v ni dung ng ti ca ngi dng.
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#10
c thch: 761
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