Lego Mindstorms EV3 Gyroboy

版本 1.1 (45.1 MB) 作者: Tim Hughes

Observer-based reference tracking feedback controller for the LEGO Mindstorms EV3 Gyroboy segway robot.

https://github.com/jakubk28/LegoMindstormsEV3

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更新时间 2019/10/29

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Observer-based reference tracking feedback controller based on the standard LEGO Mindstorms EV3 Gyroboy segway robot build. Takes input from an Xbox One gamepad or keyboard.

This is joint work with Gareth Willetts and Jakub Kryczka.

The main Simulink files have been saved in MATLAB 2019a, and also exported to 2018a and 2017a formats.

To begin, refer to the file setup_guide.m on the GitHub repository.

Details of the project will appear in:
"LQG controller for the LEGO MINDSTORMS EV3
Gyroboy segway robot." by Timothy H. Hughes, Gareth H. Willetts and Jakub A. Kryczka. Submitted to the 2020 International Federation of Automatic Control World Congress.

Contents:
KeyboardControl.slx: Simulink file for sending keyboard inputs to the Gyroboy robot.
setup.m: Matlab script for managing Simulink variants (for running on the EV3 or in simulation mode, and switching between pre-programmed and Xbox gamepad/keyboard input)
model.m: Matlab script with model parameters
gyroboy.mp4: Brief video of the Gyroboy robot in operation.
setup_guide.pdf: instructions for getting started.

MATLAB and Simulink files for various controllers are available in the following folders:
LQG_NPC: LQG controller.
LQG_WPC: LQG controller with pre-compensator.
LQG_IA_NPC: LQG controller plus integral action.
LQR_NPC: LQR controller
LQR_NPC_IA: LQR controller with integral action
OPP_NPC: LQR controller with observer designed using pole placement
PP_NPL: Pole placement controller

MATLAB and Simulink files for measuring model parameters are in the following folders:

MOTOR_TEST: for measuring LEGO EV3 motor parameters.
SENSOR_TEST: for quantifying the noise on the LEGO gyroscopic sensor.

引用格式

Tim Hughes, Gareth Willetts and Jakub Kryczka (2019). LegoMindstormsEV3 (https://www.github.com/jakubk28/LegoMindstormsEV3), GitHub. Retrieved June 18, 2019.

MATLAB 版本兼容性

创建方式 R2019a

兼容 R2017a 到 R2019a 的版本

平台兼容性

Windows macOS Linux

类别

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致谢

参考作品: Gyroboy - self-balancing two-wheel robot based on Lego EV3, Simulink Keyboard Input, NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design

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LQG_IA_NPC

controller_lqg_ia.m

LQG_NPC

controller_lqg.m

LQG_WPC

SENSOR_TEST

LQG_IA_NPC

LQG_NPC

LQG_WPC

LQR_IA_NPC

LQR_NPC

MOTOR_TEST

OPP_NPC

PP_NPC

SENSOR_TEST

无法下载基于 GitHub 默认分支的版本

版本	已发布	发行说明
1.1	2019/10/29	Added several controller designs to the GitHub repository
1.0.4	2019/6/18	Updated image
1.0.3	2019/6/18	Added image (courtesy of Millie Papworth)
1.0.2	2019/6/18	Edited description and added Acknowledgments
1.0.1	2019/6/18	Included website
1.0.0	2019/6/18

要查看或报告此来自 GitHub 的附加功能中的问题，请访问其 GitHub 仓库。