Matlab Filter und Praesentation

Matlab_Filter/fuerPraesentation/Filter_Test_Acc.m

+clear all
+close all
+%d= importdata('31-07-18-Noise.log');
+d= importdata('31-07-18-Standing.log');
+
+
+% Gyro_Phi_p= d(:,1);
+% Acc_Phi=d(:,2);
+% Phi_korr=d(:,3);
+
+Gyro_Phi_p= d(500:700,1);
+Acc_Phi=d(500:700,2);
+Phi_korr=d(500:700,3);
+
+a=[1,-1.9112,0.915];
+b=[9.4469e-4,0.0019,9.4469e-4];
+Acc_fil = filter(b,a,Acc_Phi);
+
+T=length(Gyro_Phi_p)/200;
+t=0.005:0.005:T;
+
+
+plot(t,Acc_Phi,'LineWidth',1,'Color','r','Linestyle','--')
+hold on
+plot(t,Acc_fil,'LineWidth',3,'Color','k','Linestyle','-');
+
+legend(...%'Gyro Winkelgeschwindigkeit',...
+    'original',...
+    'gefiltert');
+%axis([0 1 -10 10])
+
+title('Winkel des Accelerometers mit und ohne IIR-Filter');
+xlabel('Zeit in Sekunden');
+ylabel('Winkel in Grad');
\ No newline at end of file

Matlab_Filter/fuerPraesentation/Filter_Test_korrWinkel.m

+clear all
+close all
+%d= importdata('31-07-18-Noise.log');
+d= importdata('31-07-18-Standing.log');
+
+k1=0.995;
+k2=1-k1;
+
+% Gyro_Phi_p= d(:,1);
+% Acc_Phi=d(:,2);
+% Phi_korr=d(:,3);
+
+Gyro_Phi_p= d(500:700,1);
+Acc_Phi=d(500:700,2);
+Phi_korr=d(500:700,3);
+
+a=[1,-1.9112,0.915];
+b=[9.4469e-4,0.0019,9.4469e-4];
+Acc_fil = filter(b,a,Acc_Phi);
+
+T=length(Gyro_Phi_p)/200;
+t=0.005:0.005:T;
+
+Gyro_Phi(1)= Phi_korr(1);
+Phi_korr_2(1)= Phi_korr(1);
+Phi_korr_3(1)= Phi_korr(1);
+for i=2:length(Gyro_Phi_p)   
+Gyro_Phi(i)=Gyro_Phi(i-1)+Gyro_Phi_p(i)/200;
+Phi_korr_2(i)=k1*(Phi_korr_2(i-1)+Gyro_Phi_p(i)/200) ...
++k2*Acc_Phi(i);
+Phi_korr_3(i)=k1*(Phi_korr_3(i-1)+Gyro_Phi_p(i)/200) ...
++k2*Acc_fil(i);
+end
+
+%plot(t,Gyro_Phi_p);
+plot(t,Gyro_Phi,'LineWidth',2,'Color','k','Linestyle','-');
+hold on
+%plot(t,Acc_Phi,'LineWidth',1,'Color','r','Linestyle','--')
+plot(t,Acc_fil,'LineWidth',3,'Color','r','Linestyle','-');
+plot(t,Phi_korr,'LineWidth',2,'Color','b','Linestyle','--');
+%plot(t,Phi_korr_2);
+plot(t,Phi_korr_3,'LineWidth',3,'Color','g','Linestyle','-');
+legend(...%'Gyro Winkelgeschwindigkeit',...
+    'Gyroskop',...
+    'Acceleromer gefiltert',...
+    'Acc + Gyro',...
+    'Acc gefiltert + Gyro');
+axis([0 1 -10 10])
+
+
+title('Berechnung des korrigierten Winkels');
+xlabel('Zeit in Sekunden');
+ylabel('Winkel in Grad');
\ No newline at end of file

beamer/Abschlusspraesentation.tex

@@ -124,8 +124,34 @@
 	
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% End Stefan
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Flo
-\section{Elektronik und Platine} 
+\section{Elektronik} 
 
+	\begin{frame}\frametitle{Schaltplan}
+			\includegraphics[width=\textwidth, left]{./img/Robot-Schematic.pdf}	
+	\end{frame}
+	
+	\begin{frame}\frametitle{Foto der Schaltung}
+			\includegraphics[width=\textwidth, left]{./img/Elektronik_Bild.jpg}	
+	\end{frame}
+	
+	\begin{frame} \frametitle{Leistung und Energie}
+		\begin{tabular}{p{0.4\textwidth}c}
+			\begin{tabular}{p{0.4\textwidth}}
+				\begin{itemize}
+					\item 
+					\item Aufbau in Breite und Höhe
+					\item 2 Motoren für "großes" Drehmoment
+				\end{itemize}
+			\end{tabular}
+			& \begin{tabular}{c}
+				\parbox{0.4\linewidth}{
+					\includegraphics[width=0.5\textwidth, left]{./img/Roboter_Front.png}
+					}
+			\end{tabular}
+		\end{tabular}
+	\end{frame}
+	
+\section{Sensordaten und Filter}
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% End Flo
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Quirin
 \section{Regelung / Implementierung}