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Resultados: Instrumentos « SmartDreams
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Resultados: Instrumentos

Los instrumentos del circuito IMU funcionaron tal como se esperaba. El cambio más relevante es el mejor desempeño del nuevo giróscopo, de la misma tecnología que el inclinómetro. La naturaleza digital de ambos instrumentos los hace inmunes al ruido eléctrico generado por los puentes H, lo cual sumado a que éstos se encuentran dentro de una estructura semi cerrada de aluminio, reduce a un mínimo las probabilidades de contaminación de las señales.

Ambos instrumentos proporcionaron mediciones acordes con lo esperado y con la calidad necesaria para la correcta operación del algoritmo de control. Sin embargo, se detectó un retardo importante en la medición del inclinómetro respecto a la del giróscopo, retardo que probablemente jugó un rol importante también en las dificultades para controlar el vehículo presentadas en el trabajo anterior [2].

Figura 5.4: Captura de datos de los instrumentos y compensación de retardo

En la Figura 5.4 se muestra una captura de datos obtenida de los instrumentos, en la cual se movió el vehículo hacia adelante y atrás con los motores apagados para registrar así las lecturas sin perturbaciones. La línea en azul corresponde a los datos obtenidos directamente desde el inclinómetro, mientras que la línea roja a la integral numérica de los datos obtenidos desde el giróscopo, poniendo en evidencia la consistencia entre las lecturas de ambos instrumentos.

Se aprecia que la integral de la lectura del giróscopo posee un error acumulativo propio de este tipo de sensores. Es evidente también el retardo antes mencionado entre la lectura entregada por el inclinómetro y la estimación generada a partir del valor del giróscopo.

En verde se muestra la estimación realizada por el controlador, de la inclinación instantánea a partir del valor actual y la proyección de la derivada en 200mS, que es el valor del retardo, reduciendo de manera efectiva este desfase entre las lecturas usadas por el algoritmo de control.

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