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研究生:許耀中
研究生(外文):Yao-Jhong Syu
論文名稱:手持式無線加速規控制系統於全方位自走車之設計
論文名稱(外文):The Design of Hand-Held Wireless Accelerometer Control System for The Omni Directional Mobile Vehicles
指導教授:林國煌林國煌引用關係
學位類別:碩士
校院名稱:國立虎尾科技大學
系所名稱:電機工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:中文
論文頁數:72
中文關鍵詞:可程式自動化控制器無線加速規系統全方位運動自走車避障
外文關鍵詞:programmable automation controllerwireless accelerometer systemomni directional motion vehicle avoid obstacle
相關次數:
  • 被引用被引用:1
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  • 下載下載:3
  • 收藏至我的研究室書目清單書目收藏:1
本論文提出以 CompactRIO 可程式自動化控制器 (Programmable Automation Controller, PAC) 設計為主,運用三軸加速規模組以 ZigBee 無線傳輸的方式,實現手持式全方位自走車控制系統之設計。系統架構以 LabVIEW 圖形化程式語言為基礎,利用 LabVIEW FPGA 模組,設計脈波寬度調變 (Pulse Width Modulation, PWM) 訊號,控制馬達的轉速與正反轉;並透過 LabVIEW Real-Time 模組,設計自走車系統的運動模式。因此,本論文主要提供五項貢獻:
(1) 自行設計全方位自走車之機體結構。
(2) 結合三軸加速規模組與 ZigBee 無線傳輸模組,完成手持式無線加速規控制器。
(3) 利用無線寬頻分享器,整合 CompactRIO 與個人電腦,完成全方位自走車的區域網路控制系統。
(4) 透過 LabVIEW 圖形化軟體的程式設計,完成三軸加速規模組和超音波感測器之訊號擷取,自動避障判斷設計,PWM 控制訊號,全方位自走車運動規則演算法,RS-232 傳輸設定,波形寬度計算,與加速規控制規則設計。
(5) 整合全方位自走車之三種控制模式,分別為:模式一,個人電腦人機介面控制模式;模式二,無線加速規控制模式;模式三,全方位自走車自走模式。
Based on CompactRIO programmable automation controller (PAC) technique, this dissertation implements the omni directional mobile vehicle hand-held control system, in which includes an ZigBee wireless transmission triple-axis accelerometer. By using LabVIEW graphical programming language and LabVIEW FPGA Module, the pulse width modulation (PWM) signals are designed to control motors speed and directions. On the other hand, the mobile vehicle motion modes are created by LabVIEW Real-Time module. Thus, in this dissertation contribute five main researches:
(1) Manufactures the body structure of omni directional mobile vehicle.
(2) Combines triple-axis accelerometer module with ZigBee wireless transmission module to create the hand-held wireless accelerometer controller.
(3) Uses wireless broadband router to communicate CompactRIO and personal computer, and provides a wireless local area network control environment for omni direction mobile vehicle.
(4) By using LabVEIW program design of graphical software, designs triple-axis accelerometer module, ultrasonic signal acquisition module, avoid obstacle function module, PWM signal control module, omni direction mobile vehicle motion algorithm, RS-232 transmission setup module, waveform width calculation module, and accelerometer control module.
(5) Integrates omni direction mobile vehicle three control mode: Mode-1, PC human-machine interface control mode; Mode-2, wireless accelerometer control mode; and Mode-3, random motion mode.
摘要 ............................................ i
英文摘要 ........................................ ii
致謝 ............................................ iii
目錄 ............................................ iv
表目錄 .......................................... vi
圖目錄 .......................................... vii
第一章 緒論 ................................... 1
1.1 研究背景 ............................... 1
1.2 研究目的 ............................... 3
1.3 論文架構 ............................... 4
第二章 理論基礎 ............................... 5
2.1 加速規原理與應用 ....................... 5
2.1.1 彈簧質量系統 ........................... 5
2.1.2 自然頻率和阻尼 ......................... 6
2.1.3 應用領域 ............................... 7
2.2 直流馬達 ............................... 9
2.2.1 特性原理 ............................... 9
2.2.2 驅動方式 ............................... 10
2.3 全方位運動學方程式 ..................... 13
2.4 超音波 ................................. 17
2.5 ZigBee ................................. 19
第三章 軟硬體系統架構 ......................... 21
3.1 硬體系統架構 ........................... 21
3.1.1 三軸加速規模組 ......................... 22
3.1.2 超音波感測器 ........................... 24
3.1.3 ZigBee 無線傳輸模組 .................... 29
3.1.4 CompactRIO 控制器 ...................... 30
3.1.5 馬達驅動器 ............................. 39
3.1.6 穩壓電路 ............................... 40
3.1.7 無線寬頻分享器 ......................... 41
3.2 軟體系統架構 ........................... 42
3.2.1 LabVIEW FPGA ........................... 43
3.2.2 LabVIEW Real-Time ...................... 47
第四章 實驗結果 ............................... 54
4.1 PWM 控制訊號 ........................... 54
4.2 全方位自走車系統 ....................... 59
4.2.1 個人電腦人機介面控制模式 ............... 59
4.2.2 隨機運動模式 ........................... 61
4.2.3 無線加速規控制模式 ..................... 61
第五章 結論與未來研究方向 ..................... 63
參考文獻 ........................................ 65
作者簡介 ........................................ 71
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