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，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(B)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 (B).

摘要Ⅰ
圖目錄Ⅳ
表目錄Ⅶ
第一章 緒論1
1.1 研究的動機與目的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 FPGA7
2.3 個人電腦7
2.4 直流伺服馬達、編碼器與馬達驅動器8
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 兩輪同步及馬達驅動控制14
3.1 兩輪同步控制器14
3.2 PWM產生器18
第四章 車身平衡控制23
4.1 機器人動作描述23
4.2 前進後退控制器26
第五章 實驗結果30
5.1 實驗一 : 兩輪同步控制31
5.2 實驗二 : 前進後退控制34
5.3分析與討論36
第六章 結論38
6.1 討論38
6.2 改進與展望38
參考文獻40

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