臺灣博碩士論文加值系統

本論文之目的在以單晶片微控制器PIC18F4580實現兩輪式倒單擺之網路回授控制器，希望能在車身直立的狀態下維持平衡。系統使用一個紅外線測距模組和一個陀螺儀測量車身傾斜角與角速度，透過CAN BUS (Controller Area Network BUS)回授給控制器以實現其平衡控制。我們使用的控制法則包含PID 控制與模糊控制。實驗結果發現PID控制器參數較好調整，所以我們所設計的PID控制平衡效果比模糊控制平衡好，但兩種控制法則在網路回授控制下可以讓兩輪式倒單擺達到平衡。

This thesis considers the design of PIC18F4580-microcontroller-based networked feedback controllers for two-wheeled inverted pendulum control system. The design goal is to maintain balance of the two-wheeled inverted pendulum. We utilize an infrared ray module and a gyroscope to measure the angle of inclination and angular velocity for car body. The measured data are transmitted to the controller through CAN BUS (Controller Area Network BUS) network, and then the controller generates control signal and transmits it through CAN BUS to the actuator nodes to drive the motors for achieving desired control performance. Both PID control and fuzzy control methods are employed in our study. The experimental results show that PID control is easier in adjusting controller parameters, and achieves better performance than Fuzzy control. However, both networked PID controller and networked fuzzy controller can maintain the balance of the two-wheeled inverted pendulum.

目錄
摘 要.............................................................................................................Ⅰ
Abstract.......................................................................................................Ⅱ
目錄.............................................................................................................Ⅲ
圖目錄.........................................................................................................Ⅳ
表目錄.........................................................................................................Ⅹ
第一章 緒論................................................................................................1
1.1 研究背景與文獻回顧....................................................................1
1.2 研究動機與目的............................................................................4
1.3 章節說明........................................................................................5
第二章 系統架構........................................................................................7
2.1 車體機構介紹................................................................................7
2.2 單晶片微控制器...........................................................................10
2.3 陀螺儀...........................................................................................15
2.4 紅外線測距模組...........................................................................17
2.5 CAN BUS (Controller Area Network BUS)介紹..........................18
2.5.1 CAN BUS通訊原理.....................................................19
2.5.2 CAN BUS傳輸原理.....................................................25
2.5.3 CAN BUS的錯誤偵測.................................................25
2.6 PIC之CAN BUS使用方法..........................................................26
2.7 電路圖介紹...................................................................................36
第三章 兩輪式倒單擺網路回授PID控制器...........................................39
3.1 PID控制介紹.................................................................................39
3.2 PID參數調整方法.........................................................................41
3.3 PID控制軟體控制流程與控制器實現.........................................43
3.4 PID控制結果.................................................................................48
第四章兩輪式倒單擺網路回授模糊控制器.............................................54
4.1 模糊控制介紹...............................................................................54
4.2 模糊控制計算方法.......................................................................56
4.3 模糊控制軟體控制流程與控制器實現.......................................60
4.4 模糊控制結果...............................................................................62
4.5 PID控制與模糊控制結果比較.....................................................67
第五章 討論、結論與未來展望................................................................68
5.1 討論...............................................................................................68
5.1 結論...............................................................................................69
5.2 未來展望.......................................................................................69
參考文獻.....................................................................................................71

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