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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
Software
133
5.3.2 NI-DAQmx Drivers
Supplied with the DAQ card hardware is a set of NI-DAQmx device drivers, currently
at version 7.4. NI-DAQmx is the software required to communicate with and control
the NI acquisition device. The mx denotes the drivers are designed for M series
devices (such as the 6229) and are therefore required to operate them. NI-DAQmx
drivers can be used to control non-M Series devices however the Traditional NI-DAQ
(legacy) drivers cannot communicate with an M series device.
Driver software is essential for accessing the hardware capabilities and functions and
acts as the interface between the hardware and application software as shown in
Figure 5.5. As a result, compilation and execution of the mechatron control software
is limited to machines with NI-DAQmx installed.
Figure 5.5 Position of NI-DAQmx driver software
The main functions of the drivers include the following:
• Manage data input and output from the DAQ device
• Control the data acquisition rate
• Configure onboard hardware peripherals and pin-to-function associations
• Integrate DAQ hardware with PC resources (processor interrupts, DMA,
memory)
• Combine DAQ hardware with signal conditioning hardware
Supplied as part of the NI-DAQmx distribution are the various header files and
libraries required for program development in ANSI C, Visual C++, Visual C# and
Visual Basic .NET
20
however native support for MATLAB is not available.
20
.NET is a software development framework designed by Microsoft for the Windows operating
system
- ABSTRACT 3
- ACKNOWLEDGEMENTS 5
- TABLE OF CONTENTS 7
- Table of Contents 11
- LIST OF FIGURES 13
- List of Figures 15
- LIST OF TABLES 19
- 1. INTRODUCTION 21
- 1.2 COMMERCIAL APPLICATIONS 22
- 1.3 PROJECT SPECIFICATIONS 23
- 1.4 PROJECT PLANNING 24
- 1.5 THESIS STRUCTURE 25
- 2. BACKGROUND 27
- 2.2.1 TALON™ 29
- 2.2.2 ACER 29
- Figure 2.3 ACER robot 30
- 2.2.4 PackBot 31
- 2.2.5 Urbie 31
- 2.2.5 Other robots 32
- 2.3 EXISTING PLATFORM 33
- 2.3.1 Drive Motors 34
- 2.3.2 Drive System Type 35
- Background 37
- 2.4 PROCESSOR ARCHITECTURE 40
- 2.4.1 Embedded Controller 41
- 2.4.2 FPGA 41
- 2.4.3 Handheld PC 41
- 2.4.4 Laptop Computer 41
- 2.4.5 Full Size PC 42
- 2.4.6 ShuttleX PC 42
- 2.4.7 Selected Architecture 42
- 2.5 ELECTRONICS POWER SUPPLY 43
- 2.6 BATTERY SELECTION 44
- 2.6.3 Battery Ratings 46
- 2.6.4 Selected Batteries 47
- 2.6.5 Charging Procedure 48
- 2.7 DATA ACQUISITION CARD 49
- 2.8.2 Onboard Video Camera 52
- 2.8.4 Electronic Compass 53
- 2.8.5 GPS Receiver 54
- 2.8.6 Inertial Sensor 55
- 2.8.7 Motor Drivers 55
- 3. MOTOR CONTROL 57
- 3.1.2 Possible Solutions 58
- Motor Control 59
- 3.2 EXISTING MOTOR DRIVERS 61
- 3.2.2 Co-operating Robots 62
- 3.3 GENERIC MOTOR DRIVERS 63
- 3.3.1 Project Outline 64
- 3.3.2 Hardware Components 65
- 3.3.3 Software Interface 67
- 3.3.4 Testing and Evaluation 68
- 3.3.5 Modifications 70
- PWM Frequency 71
- Shielding 72
- Smoothing Capacitors 72
- Ferrite Beads 72
- RFI Suppression Choke 73
- 3.3.6 Summary 74
- 3.4.1 MAXI Motor Driver Kit 76
- 3.4.2 MD03 and MD22 77
- 3.4.3 Tecel D200 78
- 3.4.4 MDM5253 79
- 3.4.5 RoboteQ AX2550 80
- 3.5 SELECTED MODULES 81
- 3.5.1 Features 82
- 3.5.2 Interfacing 84
- 3.5.3 Handheld Controller 86
- 3.5.4 Programming 86
- 3.5.5 Status Codes 88
- 3.5.6 Robot Mounting 89
- 3.6 Initial Interface Design 90
- 3.8 MICROCONTROLLER 95
- 3.8.1 Selected Controller 96
- 3.8.2 Power Supply 97
- 3.8.3 Memory Configuration 97
- 3.8.4 Programming 98
- 3.8.5 DAQ Card Interface 98
- 3.8.6 Motor Driver Interface 100
- 3.9 RADIO CONTROL 101
- 4. ELECTRONICS AND 103
- SENSORS 103
- 4.1.2 Hard Drive Support 104
- 4.2 POWER SYSTEM 105
- 4.2.1 Fuse Box 106
- 4.2.2 Wiring 106
- 4.2.3 Power Switch Panel 107
- 4.3 SENSOR OPTIONS 109
- 4.3.2 Positioning 110
- 4.3.2 Ranging 111
- 4.3.4 Other sensors 111
- 4.4 ELECTRONIC COMPASS 112
- KVH C100 Compass Engine 113
- Figure 4.10 KVH C100 114
- Handheld Units 115
- Honeywell HMR3000 115
- True North Revolution 116
- TruePoint Compass Module 116
- Electronics and Sensors 117
- 4.4.3 Selected Module 118
- 4.4.4 Interface Design 119
- 4.4.5 Mounting Enclosure 120
- 4.5 GPS 121
- 4.5.2 Receiver 123
- 4.6 ACCELEROMETER 124
- 4.6.1 Advantages 125
- 4.6.2 Device Specifications 125
- 4.6.3 Theory of Operation 126
- 4.6.4 Sensitivity 127
- 4.6.5 Interface Design 128
- 4.6.6 Measuring Tilt 129
- 4.7 SHAFT ENCODERS 130
- 4.8 INFRARED SENSORS 131
- 4.8.2 Sensor Response 132
- 4.8.3 Range Calculation 133
- Equation 4.2 134
- Equation 4.3 134
- 4.8.4 Mounting 135
- Tracked 137
- 4.10 ELECTRONICS ENCLOSURE 140
- 4.11 HARDWARE SUMMARY 141
- 5. SOFTWARE 143
- 5.1.1 LabVIEW 144
- 5.1.2 Visual C++ 145
- 5.1.3 Visual Basic 146
- 5.1.4 Java 147
- 5.1.5 MATLAB 148
- 5.1.6 Linux 148
- Software 149
- 5.2 WIRELESS NETWORK 150
- 5.2.1 Network Configuration 151
- 5.2.3 MATLAB Startup 151
- 5.3 DAQ CARD INTERFACE 152
- 5.3.2 NI-DAQmx Drivers 153
- C:\WINDOWS\system32 154
- 5.3.4 Channels and Tasks 156
- 5.3.5 Available Functions 157
- 5.3.6 MAX Studio 158
- 5.4 COMPASS INTERFACE 159
- 5.4.2 Connection 160
- 5.4.3 Data Collection 161
- 5.5 GPS INTERFACE 164
- 5.6.1 Rangefinders 166
- Weighted Mean 167
- Selected Method 168
- 5.6.2 Encoders 169
- 5.6.3 Accelerometer 170
- 5.6.4 Video Camera 171
- 5.7 SYSTEM CONFIGURATION 172
- 5.7.2 Persistent Variables 173
- 5.7.3 Low Level Control Loop 174
- 5.7.4 DAQ Safety Pulse 176
- 5.7.6 Data log Files 177
- 5.8 MECHATON CONTROL 178
- )()()( kKekuku + 179
- 5.8.2 Heading Control 180
- 5.8.3 Obstacle Avoidance 181
- 5.8.4 Navigation 181
- 5.9 MICROCONTROLER CODE 182
- 5.10 USER INTERFACE 186
- 5.10.1 GUIDE 187
- 5.10.2 TabPanels 188
- 6. RESULTS & CONCLUSION 193
- ) or changes 194
- 6.2 ACCELEROMETER 197
- 6.2.2 Collision Detection 198
- 6.2.3 Tilt Measurements 200
- Pitch Angle Comparison 201
- 6.3 ELECTRONIC COMPASS 202
- Time (s) 203
- Heading (deg) 203
- 6.4 GPS EVALUATION 204
- 6.4.2 Heading 205
- 6.4.3 Long Term GPS Response 206
- X StdDev = 2.8998m 208
- Y StdDev = 3.7542m 208
- DOP vs Tracked Satellites 209
- 6.5 ROBOT MOTION 210
- 6.5.1 Motor Operation 211
- 6.6 INITIAL FIELD TRIAL 213
- 6.7 TESTING OUTDOORS 215
- 6.8 FUTURE WORK 216
- 6.9 SUMMARY 217
- GLOSSARY 219
- REFERENCES 221
- APPENDIX A: CIRCUIT 223
- Motor Driver Interface 224
- DAQ Card Interface 224
- EMI Suppression Devices 224
- Power Indicator LED 225
- 6-15V DC 225
- A.4 GPS INTERFACE 226
- A.5 ACCELEROMETER BOARD 227
- APPENDIX B: CD CONTENTS 229
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