Small Platform Control System Based on A Stable Free Pendulum

摘要

Astable control system is of great importance in navigation and autopilot applications and, especially, in the navigation of rescue robots. A coal-mine or disaster relief rescue robot for example, must always locate its targets while navigating in complex environments. For such applications, robots benefit from small size, light weight and flexible control systems. With fewer components such a control system can be more easily integrated into the robot. We created such a system, which we describe here. It is composed of a swinging frame, a control unit, and a proportional integral derivative (PID) algorithm. The swinging frame includes angular sensors, ball bearings, steering gear and so on. The small control system includes a Freescale microcontroller unit (MCU) -the MC9S12XS128MAA, a potentiometer with 5K resistance, and other components.