Mathematical Modelling of a Two Degree of Freedom Platform Using Accelerometers and Gyro Sensors  

作　　者：Vinicius Nunes Lage Alan Kardek Rego Segundo Thomas Vargas Barsante e Pinto 

机构地区：[1]Control and Automation Engineering and Fundamental Technics Department, Federal University of Ouro Preto, Ouro Preto35400-000, Brazil

出　　处：《Journal of Mechanics Engineering and Automation》2016年第8期427-433,共7页机械工程与自动化（英文版）

摘　　要：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.

关 键 词：Balanced platform MPU6050 sensor complementary filter Arduino. 

分 类 号：TP311.5[自动化与计算机技术—计算机软件与理论] TP273[自动化与计算机技术—计算机科学与技术]