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研究生: 李冠東
Lee, Kuan-Tung
論文名稱: 兩輪滑板車物體追隨控制之設計與實現
Design and Implementation of Object Following Control of Two-Wheeld Self-Balancing Robots
指導教授: 呂藝光
Leu, Yih-Guang
王偉彥
Wang, Wei-Yen
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2016
畢業學年度: 104
語文別: 中文
論文頁數: 74
中文關鍵詞: 模糊控制PID控制非線性系統兩輪滑板車
英文關鍵詞: Fuzzy control, PID control, nonlinear Systems, two-wheeled mobile robots
DOI URL: https://doi.org/10.6345/NTNU202204386
論文種類: 學術論文
相關次數: 點閱:113下載:20
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  • 本論文主要研究目的為兩輪自平衡滑板車物體追隨控制之設計與實現。兩輪自平衡滑板車之主要架構為馬達、驅動器、感測器與控制器;感測器部分包含一個三軸加速度計、陀螺儀及雷射測距儀。因兩輪自平衡滑板車具有高度非線性與時變之特性,故本論文利用混合多種控制器來完成兩輪滑板車之物體追隨控制,其中混合的控制器包括比例積分微分控制器(Proportional-Integral-Derivative controller, PID)及模糊控制器(Fuzzy Controller) 。最後,藉由電腦模擬與實驗結果來驗證整個系統的性能。

    The main goal of the thesis is the design and practical investigation of object following control of a two-wheeled self-balancing robot. The body structure of the two-wheeled self-balancing mobile robot includes the motors and drivers, sensor equipment and controllers. The sensor equipment includes a three-axis accelerometer, a gyroscope and a laser rangefinder. Because the two-wheeled self-balancing mobile robot possesses the highly non-linear and time-varying characteristics, the proportional–integral–derivative controller (PID controller) and fuzzy controller are used such that the robot achieves the object following control. Finally, some simulation and experimental results are given to verify the performance of the overall system.

    摘 要 I ABSTRACT II 致謝 III 目錄 IV 表目錄 VI 圖目錄 VII 第一章 緒論 1 1.1 研究背景與動機 1 1.2 研究目的 3 1.3研究方法 3 1.4 研究架構 4 第二章 兩輪滑板車之平台設計 5 2.1 兩輪滑板車之車體機構 5 2.2系統電源 6 2.3系統架構 6 2.4載具感測裝置 7 2.5數位訊號濾波 13 2.7藍芽傳輸模組HC-05 17 2.8霍爾感測器 3144-402 18 2.9軟體架構 19 第三章 兩輪滑板車之物體追隨控制 21 3.1 比例積分微分 21 3.2模糊控制系統 23 3.2.1模糊化 24 3.2.2 模糊推論引擎 26 3.2.3模糊規則庫 26 3.2.4解模糊化 27 3.3兩輪滑板車動態方程式 28 3.4 模擬結果 30 第四章 實驗與討論 44 4.1實驗結果 44 第五章 結論與未來展望 71 5.1結論 71 5.2未來展望 71 參考文獻 72 自傳 74 學術成就 74

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