臺灣博碩士論文加值系統

兩輪機器人系統是一個兩輪自我平衡的機器車，可遙控前進、後退、轉彎及定位，它主要是以DSP F2812來做整個控制的核心，包括：模糊控制演算法、馬達伺服控制、A/D Converter、類比濾波器、數位濾波器、無線傳輸模組…等。系統中使用車身動態感測器（傾斜器、陀螺儀）量測車身傾斜角度及角速度，利用類比低通濾波器及數位濾波器進行訊號處理，以準確的計算車身與地面傾斜的角度及角速度等資訊，再使用編碼器量測車子馬達轉動的速度及角速度。接著以模糊控制演算法，利用重心之調整來維持兩輪機器人車身的平衡。最後再利用無線數據機，從Client端發出決策命令至兩輪機器人的接收端，進行兩輪車機器人前進、後退、轉彎…等控制功能。

Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless transmission module etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless transmission module.

目錄

頁次
摘要……………………………………………………………………………I
圖目錄…………………………………………………………………….…..V
表目錄………………………………………………………………………VII
第一章 緒論…………………………………………………………………..1
1.1研究動機與目的……………………………………………………..1
1.2論文目標……………………………………………………………..2
1.3論文架構……………………………………………………………..2
第二章 硬體架構……………………………………………………………..4
2.1直流伺服馬達、編碼器與馬達驅動器…….………………………. 5
2.1.1直流伺服馬達(含減速齒輪)...……………………………….5
2.1.2編碼器………………………………………………………...6
2.1.3.馬達驅動電路………………………………………………...6
2.2傾斜器、陀螺儀、濾波器電路…….………………………………...9
2.2.1傾斜器…………………………….…………………………..9
2.2.2陀螺儀………………………………………………………...9
2.2.3濾波器電路………………………………………………….10
2.3電池與電源轉換器…………………………………………………10
2.3.1電池………………………………………………………….10
2.3.2電源轉換器……………………..…………………………...11
2.4 DSP board……………..……………...…………………………….13
2.5 RS-232無線傳輸數據機與準系統………………………………...15
2.5.1 RS-232無線傳輸數據機………………………...………….15
2.5.2準系統……….………………………………………..……..16
第三章 車身平衡與兩輪同步控制…………………..……………………..18
3.1車子動作描述 ……………………………………………………..18
3.2行動與決策 ……...………………………………………………...18
3.3訊號處理…………………….……………………………………...19
3.3.1電源上使用穩壓器……………………………...…………..20
3.3.2使用外部A/D converter……….…………………………….20
3.3.3加入類比濾波器……….…………………………………....20
3.3.4加入數位濾波器…………………………………………….21
3.3.5各司其職…………………………………………………….24
3.4車身平衡控制器 …………………………………………………..24
3.4.1控制器的輸入及輸出 ………………..…………………….25
3.4.2歸屬函數 ………………..………………………………….25
3.4.3模糊規則庫 ………………………………..……………….26
3.4.4模糊推論與解模糊化…………………………..……….…..27
3.5兩輪同步控制器……………………………………………………28
3.5.1控制器的輸入及輸出……………………………………….28
3.5.2歸屬函數………………………………………………….…29
3.5.3模糊規則庫……………………………………………….…30
3.5.4模糊推論與解模糊化…………………………………...…..30
第四章 實驗結果分析與討論……..………………..………………………31
4.1實驗一：車身平衡控制……………………………………………31
4.2實驗二：兩輪同步控制……………………………………………32
4.3實驗三：外加干擾力測試…..………………………………………34
4.3.1加兩輪同步控制器………………………………………...34
4.3.2不加兩輪同步控制器……………..………..…………...35
4.4實驗四：Kalman filter測試…………………………………………37
4.5分析討論…………………………………………………………....38
第五章 結論………………………………………………………………....39
5.1結論 ……………..…………………………………………………39
5.2困難處與解決方法………..………………………………………..39
5.3未來展望 ………………………..…………………………………40
參考文獻…………………..…………………………………………………42
附錄…………………………………………………………………………..45

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