{"id":5364,"date":"2017-03-06T21:31:30","date_gmt":"2017-03-06T20:31:30","guid":{"rendered":"http:\/\/serveiseducatius.xtec.cat\/tarragones\/?p=5364"},"modified":"2019-04-29T11:13:22","modified_gmt":"2019-04-29T09:13:22","slug":"jprats","status":"publish","type":"post","link":"https:\/\/serveiseducatius.xtec.cat\/tarragones\/dinamitzacio\/trics\/jprats\/","title":{"rendered":"An\u00e0lisi i disseny d&#8217;un vehicle autoequilibrat"},"content":{"rendered":"<p style=\"text-align: justify;\"><strong><em><span style=\"color: #808080;\">T\u00edtol:<\/span><\/em> An\u00e0lisi i disseny d&#8217;un vehicle autoequilibrat<\/strong><br \/>\n<strong><span style=\"color: #808080;\"><em>Autor:<\/em><\/span> Jaume Prats Cristi\u00e0<\/strong><br \/>\n<span style=\"color: #808080;\"><strong><em>Tutor:<\/em><\/strong><\/span> Mario Pol\u00f3nia Rebelo<br \/>\n<span style=\"color: #808080;\"><em><strong>Modalitat:<\/strong><\/em><\/span> Ci\u00e8ncies i Tecnologia: Cientificot\u00e8cnic<br \/>\n<span style=\"color: #808080;\"><em><strong>\u00c0rea curricular:<\/strong> <\/em><\/span>Tecnologia<br \/>\n<span style=\"color: #808080;\"><em><strong>Centre:<\/strong> <\/em><\/span>Escola Puigcerver<br \/>\n<span style=\"color: #808080;\"><em><strong>Localitat:<\/strong> <\/em><\/span>Reus<\/p>\n<h6 style=\"text-align: justify;\"><strong>Objectius:<\/strong><\/h6>\n<p style=\"text-align: justify;\">Construir i dissenyar un robot des de zero, capa\u00e7 de mantenir l&#8217;equilibri en un sol eix utilitzant nom\u00e9s dues rodes.<br \/>\nDesenvolupar el codi necessari per el seu funcionament.<br \/>\nAprendre a utilitzar el llenguatge de programaci\u00f3 i la interf\u00edcie d&#8217;Arduino.<\/p>\n<h6 style=\"text-align: justify;\"><strong>Hip\u00f2tesi:<\/strong><\/h6>\n<p style=\"text-align: justify;\">En aquest treball es pret\u00e9n crear un robot capa\u00e7 de mantenir-se en equilibri utilitzant dues rodes i implementant un control PID per ajustar els moviments de l&#8217;aparell.<\/p>\n<h6 style=\"text-align: justify;\"><strong>El proc\u00e9s:<\/strong><\/h6>\n<p style=\"text-align: justify;\">A l\u2019hora de posar-ho en pr\u00e0ctica, els primer que vaig fer va ser buscar el material necessari per portar-ho a terme. Un cop vaig tenir tot el material, vaig fer un seguit d\u2019experi\u00e8ncies amb tots els components per tal d\u2019aprendre a utilitzar-los.<br \/>\nTot seguit vaig passar a fer els muntatge pr\u00f2piament dit del robot, vaig dissenyar una estructura en alumini per fer les primeres proves i posteriorment una segona impresa en 3D.<br \/>\nEl seg\u00fcent pas va ser passar a fer tot el cablejat i l\u2019esquema el\u00e8ctric del robot per connectar cada component a la placa.<br \/>\nEn acabar, tenint ja tot el robot muntat, vaig passar a l\u2019apartat de programaci\u00f3. La programaci\u00f3 esta feta amb l\u2019entorn Arduino i en quant a l\u2019equilibri, despr\u00e9s d\u2019informar-me de diferents maneres de fer-ho, vaig optar per utilitzar un controlador PID que rebent la informaci\u00f3 dels acceler\u00f2metres i els girosc\u00f2pics em podria donar un valor que jo despr\u00e9s podria tractar per enviar una ordre als motors i rectificar la posici\u00f3 del robot.<br \/>\nFinalment vaig fer tot un proc\u00e9s d&#8217;avaluaci\u00f3 que em va fer notar que els controladors del motors no acabaven de funcionar correctament. Vaig substituir-los per uns altres de m\u00e9s adequats.<\/p>\n<h6 style=\"text-align: justify;\"><strong>Conclusions:<\/strong><\/h6>\n<p style=\"text-align: justify;\">En conjunt, crec que he obtingut molt bon resultat d&#8217;aquest projecte aix\u00ed com dels components, estructura i programes utilitzats. Tot i els problemes derivats dels controladors crec que el resultat final ha sigut molt bo. L&#8217;organitzaci\u00f3 del projecte en forma d&#8217;experiments, ha perm\u00e8s que el treball avanc\u00e9s progressivament a partir de petits objectius.<\/p>\n<p><iframe loading=\"lazy\" style=\"border: 1px solid #CCC; border-width: 1px; margin-bottom: 5px; max-width: 100%;\" src=\"\/\/www.slideshare.net\/slideshow\/embed_code\/key\/GeERAQV90WDsGv\" width=\"595\" height=\"485\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\" allowfullscreen=\"allowfullscreen\"> <\/iframe><\/p>\n<h6 style=\"text-align: justify;\"><strong>Bibliografia:<\/strong><\/h6>\n<ul style=\"list-style-type: disc;\">\n<li style=\"text-align: justify;\"><a href=\"https:\/\/www.arduino.cc\/\" target=\"_blank\" rel=\"noopener\">https:\/\/www.arduino.cc\/<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"https:\/\/www.arduino.cc\/en\/Reference\/HomePage\" target=\"_blank\" rel=\"noopener\">https:\/\/www.arduino.cc\/en\/Reference\/HomePage<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/www.naylampmechatronics.com\/blog\/15_Configuraci%C3%B3n--del-m%C3%B3dulo-bluetooth-HC-06-usa.html\" target=\"_blank\" rel=\"noopener\">http:\/\/www.naylampmechatronics.com\/blog\/15_Configuraci%C3%B3n&#8211;del-m%C3%B3dulo-bluetooth-HC-06-usa.html<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/playground.arduino.cc\/Main\/RotaryEncoders\" target=\"_blank\" rel=\"noopener\">http:\/\/playground.arduino.cc\/Main\/RotaryEncoders<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/recreus.com\/es\/4filamentos-filaflex\" target=\"_blank\" rel=\"noopener\">http:\/\/recreus.com\/es\/4filamentos-filaflex<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/fritzing.org\/home\/ http:\/\/playground.arduino.cc\/Code\/PIDLibrary\" target=\"_blank\" rel=\"noopener\">http:\/\/fritzing.org\/home\/ http:\/\/playground.arduino.cc\/Code\/PIDLibrary<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/colab-segway.blogspot.com.es\/2014\/03\/software-y-micro-controladores-aspectos.html\" target=\"_blank\" rel=\"noopener\">http:\/\/colab-segway.blogspot.com.es\/2014\/03\/software-y-micro-controladores-aspectos.html<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/brettbeauregard.com\/blog\/wp-content\/uploads\/2012\/07\/Gu%C3%ADa-de-uso-PID-para-Arduino.pdf\" target=\"_blank\" rel=\"noopener\">http:\/\/brettbeauregard.com\/blog\/wp-content\/uploads\/2012\/07\/Gu%C3%ADa-de-uso-PID-para-Arduino.pdf<\/a><\/li>\n<li style=\"text-align: justify;\"><a href=\"http:\/\/www.rovertec.com\/products-bgmc.html#\" target=\"_blank\" rel=\"noopener\">http:\/\/www.rovertec.com\/products-bgmc.html#<\/a><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>C Puigcerver<\/p>\n","protected":false},"author":1,"featured_media":6944,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_bbp_topic_count":0,"_bbp_reply_count":0,"_bbp_total_topic_count":0,"_bbp_total_reply_count":0,"_bbp_voice_count":0,"_bbp_anonymous_reply_count":0,"_bbp_topic_count_hidden":0,"_bbp_reply_count_hidden":0,"_bbp_forum_subforum_count":0,"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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