臺灣博碩士論文加值系統

本篇論文主要是製作及控制一個具有自我維持平衡能力的兩輪機器人。其分成車身與兩輪部份，在兩輪的左、右各裝有一個直流馬達，帶動機器人的動作。我們利用電腦與FPGA來實現其控制目的，完成機器人保持車身的平衡以及受干擾後能立即恢復平衡。我們使用角速度陀螺儀量測車身傾斜角度及角速度，並利用編碼器量測兩輪轉動的速度及位置。模糊控制是本論文主要的控制器，用來控制車子的前進與後退。
兩輪自我平衡機器人由兩位同學合作完成，分別為(A)在電腦上實現車身平衡控制以及兩輪同步控制系統，達到車身部份保持平衡與兩輪轉速一致；以及(B)分別在電腦上實現機器人之前進與後退控制與兩輪同步控制系統，達到機器人之前進與後退，而本論文乃針對(A)項做研究。

The paper controls a two-wheel robot with self-balanced ability. It is divided into two parts --- the body and two wheels. We keep the balance of robot body using the computer and FPGA. We use the gyro to measure the angle and angular velocity of body and two encoders to measure velocity and position of two wheels, respectively. Fuzzy controller is used to control the robot for moving forward and backward in this paper.
The two-wheel robot with self-balanced ability is finished by two students. Two theses are proposed as follows :
(A)The robot balance control system and two-wheel synchronous control system are realized in the computer, respectively. They can achieve the goal of keeping the body balance and make the rotational speed of two wheels the same.
(B)The forward and backward movement control system and two-wheel synchronous control system are realized in the computer, respectively.
They can achieve the goal of moving forward and backward.
This thesis is focused on the research of (A).

目錄
頁次
摘要………………………………………………………………………I
圖目錄…………………………………………………………………V
表目錄…………………………………………………………………IX
第一章緒論……………………………………………………1
1.1 研究動機與目的………………………………………………1
1.2 論文架構………………………………………………………2
第二章 硬體架構…………………………………………………4
2.1 兩輪自我平衡機器人…………………………………………5
2.2 FPGA……………………………………………………………7
2.3 個人電腦………………………………………………………7
2.4 直流伺服馬達、編碼器與馬達驅動器………………………9
2.5 PCI-1202L、AD/DA卡與電源轉換器…………………………10
2.6 陀螺儀與低通濾波器………………………………………11
第三章 車身平衡控制 ………………………………………………14
3.1 車子動作描述 ………………………………………………14
3.2 行動與決策…………………………………………………16
3.3 陀螺儀特性及訊號處理 ……………………………………17
3.4 車身平衡控制器 ……………………………………………22
第四章 兩輪同步與馬達驅動控制 …………………………………27
4.1 兩輪同步控制器 ……………………………………………27
4.2 兩輪同步控制流程 …………………………………………31
4.3 馬達驅動控制器 ……………………………………………32
第五章 實驗結果分析與討論…………………………………………37
5.1 實驗一 : 車身平衡控制 ……………………………………37
5.2 實驗二 : 兩輪同步控制 ……………………………………39
5.3 實驗三 : 兩個控制器之相互關係…………………………42
5.3.1 無兩輪同步控制對車身之影響……………………42
5.3.2 單輸入與兩輸入之兩輪同步控制對車身之影響
(未加干擾力)………………………………………45
5.3.3 單輸入與兩輸入之兩輪同步控制對車身之影響
(加干擾)……………………………………………49
5.3.4 分析討論……………………………………………53
第六章 結論 …………………………………………………………54
6.1 討論 …………………………………………………………54
6.2 改進方向..……………………………………………………55
6.3 未來展望 ……………………………………………………55
參考文獻………………………………………………………………56

參考文獻
[1]A. Alessandri, G. Bartolini, P. Pavanati, E. Punta and A. Vina, “An Application of the Extented Kalman Filter for Integrated Navigation in Mobile Robotics,” American Control Conf. Albuquerque New Mexico, June 1997.
[2]C. V. Altrock, H. O. Arend, B. Krause, E. Behrens-Rommler and C. Steffens, “Adaptive Fuzzy Control Applied to Home Heating System,” Fuzzy Sets and Systems, vol. 61, pp. 29-35, 1994.
[3] J. Q. Chen, J. H. Lu, and L. J. Chen, “Analysis and Synthesis of Fuzzy Closed-Loop Control Systems,” IEEE Trans. Systems, Man, and Cybernetics, vol. 25, no. 5, pp. 881-888, May 1995.
[4]N. H. Getz and J. E. Marsden, “Control for an Autonomous Bicycle,” IEEE Int. Conf. Robot. Automat., vol. 2, pp. 21-27, May 1995.
[5]F. Grasser, A. D’Arrigo, S. Colombi and A.C. Rufer, “JOE: a Mobile, Inverted Pendulum,” IEEE Trans. Industrial Electronics, vol. 39, no. 1, pp. 107—114, February 2002.
[6]Y. Ha and S. Yuta, “Trajectory Tracking Control for Navigation of Self-Contained Mobile Inverse Pendulum,” IEEE/RSJ/GI Int. Conf. Advanced Robotic Systems and the Real World, vol. 3, pp. 12-16, September 1994.
[7]Dr. Kuar, E. Konga, and E. Konga, “Fuzzy Traffic Light Controller,” IEEE Int. Conf. Fuzzy Systems, pp. 1507-1510, 1995.
[8]O. Matsumoto, S. Kajita and K. Tani, “Estimation and Control of the Attitude of a Dynamic Mobile Robot Using Internal Sensors,” Advanced Robotics, vol. 7, no. 2, pp. 159-178, 1993.
[9]Y. Takahashi, S. Ogawa and S. Machida, “Step Climbing Using Power Assist Wheel Chair Robot with Inverse Pendulum Control,” IEEE Int. Conf. Robot. Automat., vol. 2, pp. 1360-1365, April 2000.
[10] H. O. Wang, K. Tanaka, and M. F. Griffin, “An Approach to Fuzzy Control of Nonlinear Systems: Stability and Design Issues,” IEEE Trans. Fuzzy Systems, vol. 4, no. 1, pp. 14-23, February, 1996.
[11]T. Yamakawa, “Stabilization of an Inverted Pendulum by a High -Speed Fuzzy Logic Controller Hardware System,” Fuzzy Sets and Systems, vol. 32, pp. 161-180, 1989.
[12] L. A. Zedah, “Fuzzy Sets,” Information and Control, vol. 8, no. 3, pp. 338-353, Jun. 1965.
[13] L. A. Zedah, “Fuzzy Algorithm,” Information and Control, vol. 12, pp. 94-102, 1968.
[14] 王文俊, 認識Fuzzy, 全華科技圖書股份有限公司, 2001年.
[15] 陳奕儒,“旋轉型倒單擺之直立與定位控制”, 國立中央大學電機所碩士論文, 1997年六月, (王文俊 指導).
[16]陳仁傑,“雙質量彈簧連結系統之振盪消除與定位控制”, 國立中央大學電機所碩士論文, 1998年六月, (王文俊 指導).
[17] 王禎祥,“兩輪自我平衡機器人之前後行走控制”, 國立中央大學電機所碩士論文, 2003年六月, (王文俊 指導).