臺灣博碩士論文加值系統

本文主要是將模糊控制理論結合細菌覓食演算法，調整模糊系統的設計參數應用於模糊控制系統，並應用在自行設計的兩輪移動載具。由於兩輪移動載具無法自主平衡，需要有控制器，才能達成自主平衡。系統控制核心為單晶片82G516，透過三軸加速度計與陀螺儀分別回傳角度與角速度的即時資訊，利用量測放大電路進行訊號處理，並在單晶片中建構數位濾波器(Kalman filter)、模糊控制器，使其輸出合適的PWM來控制兩輪移動載具的前進、後退並完成自我平衡的動作。從模擬的結果得知，透過細菌演化的方式，可以使得兩輪移動載具快速的穩定，並且從實作結果得知兩輪移動載具搭配模糊細菌演化系統，可以偵測人體重心，使兩輪移動載具前進、後退的功能。

This thesis focuses on adjusting the design of fuzzy control systems through a combination of the fuzzy control theory and the bacterial foraging algorithm. In addition, for a self-designed two wheeled vehicle, because of the reason that two-wheeled vehicle is unable to be self-balancing, a controller is required for forming a control system. The control system kernel is Megawin 82G516 single chip. The real-time data of angle and angular velocity are transmitted respectively from 3-axis accelerometer and gyroscope to the control kernel. Through the measurement amplifier processes analog signal, along with the construction of digital filter (Kalman filter) and fuzzy controller in the single chip, the control system kernel outputs a suitable pulse width modulation (PWM) to control the two-wheeled vehicles to go forward and backward, and even to make it self-balancing. The simulation results indicate that the two-wheeled unstable vehicle becomes stable immediately through the bacterial evolution. Moreover, the experiment results show that the two-wheeled vehicle with fuzzy bacterial evolution system can detect the gravity center of body such that the two-wheeled vehicle can move forward and backward.

摘 要 i
ABSTRACT ii
誌 謝 iii
目 錄 iv
表 目 錄 vii
圖 目 錄 viii
第一章 緒論 1
1.1 研究背景 1
1.2 研究目的 2
1.3 文獻回顧 2
1.4 論文架構 4
第二章 兩輪移動載具之硬體電路設計 5
2.1 系統架構 5
2.2 系統電源 6
2.3 車身機構 7
2.4 感測裝置與量測放大器 8
2.4.1 三軸加速度計ADXL335 8
2.4.2 陀螺儀IDG500 8
2.4.3 量測放大器 9
2.5 控制核心82g516 12
2.6 馬達驅動器 13
2.7 電池與馬達輪圈 14
2.8 藍芽傳輸模組 15
第三章 數位濾波器與模糊控制器 16
3.1 數位濾波器(Kalman Filter) 16
3.1.1 Kalman Filter原理 16
3.1.2 Kalman Filter濾波結果 17
3.2 模糊控制器 20
3.2.1 模糊控制方塊圖 22
3.2.2 兩輪移動載具動態方程式 22
3.2.3 模糊控制行動示意圖 25
3.2.4 歸屬函數 26
3.2.5 模糊規則 28
3.2.6 模糊推論 29
3.2.7 解模糊化 30
3.2.8 模擬結果 30
第四章 模糊細菌覓食演算法 33
4.1 細菌演算法理論與基礎 33
4.1.1 趨藥性(Chemotaxis) 33
4.1.2 群聚效應(Swarming) 34
4.1.3 繁殖(Reproduction) 35
4.1.4 消除與分散(Elimination and Dispersal) 35
4.2 細菌覓食演算法 35
4.3 模糊細菌演化 37
4.3.1 細菌演化模糊控制器 37
4.3.2 細菌演化模糊控制器後件部最佳化 38
第五章 實驗結果 46
5.1 模糊控制器-程式流程 46
5.2 模糊控制器-無扶桿自主平衡 47
5.3 模糊控制器-有扶桿自主平衡 50
5.4 模糊控制器-載人自主平衡 54
5.5 細菌演化模糊控制器-有扶桿自主平衡 55
5.6 細菌演化模糊控制器-載人自主平衡 58
5.7 細菌演化模糊控制器-騎乘轉彎 59
第六章 結論與未來展望 66
6.1 研究結論 66
6.2 未來展望 66
參考文獻 67

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