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This documents describes a modular hardware platform for inertial measuring unit and its integration into Matlab Simulink. Its purpose is to give students a way to work with real device in an environment which they are familiar with. They can train various methods of signal processing and filtering and they can get familiar with used MEMS gyroscope...
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... make the teaching process more realistic and interesting for students, a real hardware for IMU was prepared. The purpose of the mechanical part described in the next section is to provide some movements while keeping it in the same place on the table, measure the position of the object changed by these movements, and measure the position by a different reference method. Then, the results of signal processing can be compared to these reference measurements. The goal of it is to let students use the sensors, try and evaluate more digital processing techniques, compare their results and choose the most appropriate one of these techniques. The most important part of the platform is its electronics. Its block diagram is shown in Fig. 1. There are two printed circuit boards. One of these boards is a control board with a digital signal controller used to convert signals from the sensors to digital data and to make some basic data processing. A 16 bit digital signal controller dsPIC33FJ64GP306A [Microchip (2009)] by Microchip is used. A PICKIT3 programmer was used to debug it and program it via ICSP interface. The other board is a sensor board. The approach with a separate boards allows user to change the boards and use various types of sensors. Our sensor board uses an MMA7361 [Freescale (2008)] which is a 3-axis accelerometer with an analog output by Freescale. It also uses gyroscopes LPY530AL [STMicroelectronics (2009b)] measuring angular rate in X and Y axis and LPR530AL [STMicroelectronics (2009a)] measuring in Z ax. Both types are manufactured by STMicroelectronics. The controller generates a standard PWM (Pulse width modulation) signal with frequency 50Hz and nominal impulse duration 1.5ms. This signal controls servo motor HexTronik HXT500. Its purpose is to move the sensor board. Then its inertial variables can be measured by the sensor board. In order to have more precise position signal, the servo motor was modified. After disassembling the internal position feedback voltage from potentiometer was lead out and is also measured by the controller. This signal is assumed to be the reference signal for measurements from the MEMS inertial sensors. A serial port and USB/Serial port adapter are used to con- nect the controller to a computer with Matlab ...
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Citations
... The method requires an accurate reference for the calibration. Therefore, an industrial motor is selected and verified by protractor 3600 to assure its precision, which is popularly applied to Inertial measuring units (IMU) [22]. Due to the limited memory of MCU, all of the acceleration data cannot be contained in the memory. ...
... This device is a system-in-package featuring a tri-axial digital linear acceleration sensor with a 16-bit resolution and selectable full-range scale ±2 to ±16 g full scale. The NUCLEO-F103RB [19] with a maximum clock frequency of 72 MHz is used to implement the LUT filter into an external MCU STM32F103C8T6 [20] A high precision and robust stepper motor was used: Vexta oriental motor DGM130R-ASAA [22] as a reference, like Fig. 6. A metal piece is designed to handle inclinometer appropriately, which is mounted on the stepper motor for leftright rotation as demonstrated in Fig.7. ...
The hydraulic steering simulation is done with SIMULINK, part of the MathWorks MATLAB® application. All parts, subassemblies, and assemblies that define the nose landing gear (NLG) and nose wheel steering are fully defined in 3D, with CATIA V5 - a computer-aided design software used for modeling, it is possible to carry out simulations that allow preliminary evaluation, theoretically and experimentally. The purpose of this simulation is to confirm the correctness of the steering gear kinematics, that the two hydraulic cylinders have been sized correctly and can overcome the resistive steering moment, and that the steering time complies with design specifications for the nose landing gear of a military training aircraft.
