M.Sc. Tezi Görüntüleme

Student:	Selçuk GÜVEN
Supervisor:	Asst. Prof. Dr. Halil İbrahim OKUMUŞ
Department:	Elektrik-Elektronik Müh.
Institution:	Graduate School of Natural and Applied Sciences
University:	Karadeniz Technical University Turkey

Title of the Thesis:	TMS320F2808 DSP-Based Control of Autonomous Vehicles with PMDC Motor
Level:	M.Sc.
Acceptance Date:	15/6/2011
Number of Pages:	98
Registration Number:	i2357

Summary:

Innovations in automation technology reduce the need for human beings. Although owning cost of technological machinery is high enough, operating and maintenance costs are low. In addition, owing to these machinery, errors caused by humans are eliminated. In this thesis, a direct current (DC) motor driving system for a vehicle tracking a given route is developed and the control of this system by means of TMS320F2808 digital signal controller is aimed. The algorithm which is used for DC motor control is designed by using Matlab/Simulink simulation software. The generated codes are built into the TMS320F2808 directly via CCS (Code Composer Studio) by favour of this software.

A permanent magnet DC (PMDC) motor is used in the vehicle. Four quadrant control of the dc motor is performed based on digital signal controler. The H-bridge dc-dc converter which is driven by the pulse-width modulation (PWM) signal generated by micro controller changes the average value of the voltage applied to the motor and as a result the speed of the motor is controlled.

Key Words: Autonomous vehicle, Permanent magnet DC machine, TMS320F2808 DSP, eZdsp F2808, Microcontroller