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研究生:連竟堯
研究生(外文):Ching-Yao Lien
論文名稱:懸吊平台移動平衡之模糊控制實現
論文名稱(外文):The Implementation of Balance Control for a Mobile Suspension Platform Using Fuzzy Logic Control
指導教授:黃英哲黃英哲引用關係
指導教授(外文):Ying-Jeh Huang
學位類別:碩士
校院名稱:元智大學
系所名稱:電機工程學系
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:2011
畢業學年度:99
語文別:英文
論文頁數:83
中文關鍵詞:ARM懸吊平台加速度計FPGA模糊控制
外文關鍵詞:ARMsuspension platformaccelerometerFPGAfuzzy control
相關次數:
  • 被引用被引用:2
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  • 下載下載:1
  • 收藏至我的研究室書目清單書目收藏:1
本論文以平台平衡控制為出發點,利用ARM架構的嵌入式系統技術,實現結合水銀開關、兩軸加速度計、直流馬達控制之懸吊平台平衡控制模組,並於此平台下方連結一全向輪機器人,此全向輪機器人利用現場可規劃邏輯閘陣列(FPGA)技術,實現直流馬達控制三組全向輪,其控制訊號由Wii搖桿輸出,可控制移動的方向及快慢。此懸吊平台應用模糊控制理論執行直流馬達的閉迴路速度控制,並做一輸出力道補償機制而得以承載物品,配合其移動的性能,可應用於平穩的運載物品,減少在過程中不因地形高低起落而造成翻覆的可能。

The purpose of this thesis is to balance a mobile suspension platform by using an ARM-based embedded system. The suspension platform is comprised of mercury switches, two-axis accelerometers, and DC motors to implement the balance control. And there is an omni-directional mobile robot which is linked below this platform. The omni-directional mobile robot was used field-programmable gate array (FPGA) technology to achieve the control of three omni-directional wheels by three DC motors. The signal of control output is from the Wii Remote. It can control the direction and speed of the mobile robot. This suspension platform is executed by fuzzy control theory. This platform uses the closed-loop signals to control the speeds of DC motors. In addition, in order to lift up goods there is a compensation mechanism for output strength. With the characteristic of mobility and balance control, the platform can be applied to delivery goods smoothly without rollover when it is moving on the road with ups and downs.

Abstract(Chinese) i
Abstract ii
Acknowledgement iii
Contents iv
List of Tables vi
List of Figures vii
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Literature review 2
1.3 Thesis organization 3
Chapter 2 Overall Structure of the System 5
2.1 The structure of the system’s hardware 6
2.2 The process of the suspension platform operation 14
Chapter 3 Peripheral Interface 17
3.1 ARM7 controller 17
3.2 FPGA controller 21
3.3 PWM 23
3.4 DC motor control 24
3.5 Tilt sensor 26
3.5.1 Mercury switch 27
3.5.2 Design of mercury switch 28
3.5.3 Accelerometer and gyroscope 30
3.6 RS232 Serial communication 35
3.7 Voltage regulator control 39
3.8 Omni-directional wheels control using Wii Remote 40
3.8.1 Introduction to Wii Remote 40
3.8.2 Settings of PC Software 42
3.8.3 Control of omni-directional wheels 44
3.8.4 Source code for FPGA 46
3.8.5 Source code for Wii Remote 47
Chapter 4 Fuzzy Logic Controller and the Compensation Control 51
4.1 Basic concepts of fuzzy logic controller 51
4.2 Composition of fuzzy logic controller 53
4.3 Implementation of fuzzy logic controller 54
4.3.1 Data Structure of fuzzy knowledge base 54
4.3.2 Design of fuzzy inference engine 59
4.4 Compensation control 61
Chapter 5 Experimental Results 63
5.1 Setting the platform at the non-equilibrium position 66
5.2 10 degree of inclination of ramp 68
Chapter 6 Conclusions and Future Works 79
References 81



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[2]S. U. Chiou, Structure with load plane for automatically balance control, retrieve from: http://dmlab.nchu.edu.tw/dp/report/example/example3.pdf
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[7]W. M. Chang, Implementation of the balance control of suspension platforms. Master thesis, Department of Electric Engineering, Yuan Ze University, Jan 2011.
[8]Z. Y. Sun and Y. G. Yang, Fuzzy Control Theory, Implementation and Application (Revised Edition), Chuan Hwa Book Co., Lts., Taipei, 2005.
[9]S. Y. Yung, Embedded ARM7 single-chip control and C language implementation, Self-Institute for Industrial Science Foundation, Taipei, 2009.
[10]Hardware Structure of ARM720T, retrieve from http://blogold.chinaunix.net/u1/58341/showart_460005.html
[11]Z. M. N. Lekic, R. D. Ivanovic, and D. Filipovic, “The simple RS232 hub to interface microcontroller peripheral devices with the central processor,” Proceedings of the 2003 10th IEEE International Conference on Electronics, vol. 3, pp. 1208-1211, 2003.
[12]PWM, retrieve from: http://www.eettaiwan.com/SEARCH/ART/PWM.HTM
[13]C. T. Kuo, The Fall Down Monitor System For Aged. Master thesis, Department of Mechanical Engineering, Kun Shan University of Technology of Science, 2005.
[14]Y. W. Lin, The Wireless Control for the Serial Communications of a PC Picture-monitored Single-chip Multi-machine. Master thesis, Department of Electric Engineerin, National Yunlin University of Science and Technology, 2006.
[15]J. F. Chen, Design of tracked robot. Master thesis, Department of Electric Engineerin, National Yunlin University of Science and Technology, 2009.
[16]EETimesTaiwan, What is a gyroscope, retrieve from http://www.eettaiwan.com/SEARCH/ART/%AA%FB%C1%B3%BB%F6.htm
[17]Engadget, Accelerometers and gyroscopes, retrieve from http://chinese.engadget.com/2009/11/08/g-senser-and-gyroscope/
[18]R. T. Ho, A Remote Biosignal Monitor and Electronic Medical Record System. Master thesis, Department of Electric Engineerin, National Chung Cheng University, 2000.
[19]C. T. Yu, Obstacle Avoiding Device for Car-Like Mobile Robot with Fuzzy Theorem Realized by Digital Signal Processors. Master thesis, Department and Graduate Institute of Automatic Control Engineering, Feng Chia University, 2005.
[20]7805 Regulator, retrieve from http://msb.pccu.edu.tw/~s9324749/new_page_16.htm
[21]G. Y. Huang, “Configure and Usage of Wii Remote,” Gerontechnology Research Center, Yuan Ze University, 2009.
[22]Z. S. Wu, Searching Sound’s Direction by Omni-Directional Mobile Robot. Master thesis, Department of Engineering Science, National Cheng Kung University, 2007.
[23]C. C. Lee, “Fuzzy Logic in Comtrol Systems:Fuzzy Logic Controller. Part I,II,” IEEE Transactions on Systems, Man, Cybernetics, vol. 20, no 2, March/April 1990.


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