臺灣博碩士論文加值系統

In this thesis, Motor Driver Circuit and Two wheeled Inverted Pendulum system was built with some sensor circuits to calculate the tilt angle of the Two Wheeled Inverted Pendulum and control motors. All the mechatronics system are Integrated into PC based control structure and Turbo C language is used to design the control programs.
The mathematical model of wheeled inverted pendulum which is highly nonlinear is derived. Since Wheeled inverted pendulum is a nonlinear, unstable system, sliding mode control is employed to design the controller. The mathematical model is used to design the Sliding Mode Controller, and some simulation cases are executed to evaluate the dynamic performance of this wheeled inverted pendulum.

In this thesis, Motor Driver Circuit and Two wheeled Inverted Pendulum system was built with some sensor circuits to calculate the tilt angle of the Two Wheeled Inverted Pendulum and control motors. All the mechatronics system are Integrated into PC based control structure and Turbo C language is used to design the control programs.
The mathematical model of wheeled inverted pendulum which is highly nonlinear is derived. Since Wheeled inverted pendulum is a nonlinear, unstable system, sliding mode control is employed to design the controller. The mathematical model is used to design the Sliding Mode Controller, and some simulation cases are executed to evaluate the dynamic performance of this wheeled inverted pendulum.

Abstract……………………………………………………………………………… I
Content………………………………………………………………………………. II
List of Figure……………………………………………………………………… IV
Nomenclature………………………………………………………………………… VI
Chapter 1……………………………………………………………………………… 1
1.1 Introduction……………………………………………………………. 1
1.2 Literature Review……………………........................ 1
1.2.1 Inverted Pendulum……………………………………... 2
1.2.2 Two Wheeled Balancing Robot………………………... 4
1.3 Thesis Structure…………………………………………………….. 6
Chapter 2…………………………………......................................7
2.1 System design and connecting process…………………………… 7
2.2 System Plant………………………………………………………….. 8
2.2.1 Hardware…………………………………………………… 8
2.2.1.1 Moving Robot Plate………………………………… 8
2.2.1.2 Actuator…………………………………………….. 9
2.2.1.3 Sensor……………………………………………………….. 9
2.2.1.4 PC-Based control system interface cards……………… 15
2.2.1.4.1 PCL-726…………………………………………….. 15
2.2.1.4.2 PCL-833…………………………………………….. 15
2.2.1.4.3 PCL-812…………………………………………….. 16
2.2.2 Software programs………………………………………………… 17
Chapter 3……………………………………………………………………………… 18
3.1 Dynamic Model of DC motor…………………………………………… 18
3.2 Dynamic Model of Two Wheeled Inverted Pendulum……………… 20
3.3 Parameters…………………………………………………………….. 26
Chapter 4………………………………………………………………………………....28
4.1 PID Control Theories………………………………………………… 28
4.2 Sliding Mode Control………………………………………………… 31
4.3 PD Controller Design…………………………………………………. 35
4.4 Sliding Mode Controller design…………………………………… 36
4.4.1 Sliding Mode Control design only considering the
port angle…..............................................37
4.4.2 Sliding Mode Control design considering both
port angle and position...................................38
Chapter 5………………………………………………………………………………....40
5.1 Experimental & SimulationResults………………………………… 40
5.2 Discussion……………………………………………………………… 51
Chapter 6………………………………………………………………………………....53
6.1 Conclusion………………………………………………………………..53
6.2 Future Works………………………………………………………….. 53
Reference……………………………………………………………………………… 54
Aoutobiography……………………………………………………………………….. 57

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