臺灣博碩士論文加值系統

本研究主要是探討雙輪倒單擺車在不同環境下之運動控制，本研究所使用的控制核心為Arduino Nano 3.0，利用加速度計與陀螺儀量測車身的傾斜角度與傾斜角速度，再透過卡爾曼濾波器進行預測，得到較佳的傾斜角資訊。本研究的倒單擺車是使用三相無刷直流輪毂馬達作為動力源，並透過三相馬達本身所具備之霍爾感測器進行迴授，測得倒單擺車的位移量以及速度，並在前方設有把手做為轉向機構，透過電位計達到兩輪差速轉向功能。
控制器使用不需模型並具有高強健性的模糊滑動模式控制器(Fuzzy Sliding Mode Control)。
經實驗結果證明，FSMC控制器不僅成功的讓倒單擺車達到隱定的平衡控制，在加入速度控制器後，也成功的讓倒單擺車在不同環境下(如：平地、斜坡、載人、空載)達到所設定之速度指標，而把手轉向控制器亦令倒單擺車在平衡的情況下進行兩輪的差速運動，使車身轉彎，不僅提升車輪之移動性能，也增加倒單擺車的實用性。結論證實FSMC控制器能成功的應用在倒單擺車處於不同環境下之各種運動控制。

The goal of this thesis is to investigate the motion control performance of two-wheel inverted pendulum (TWIP) vehicle in different environment. The control kernel of this system is Arduino Nano 3.0. Accelerometer and gyroscope are used to measure the tilt angle and angular velocity of the inverted pendulum, respectively. Kalman filter is used to estimate the accurate tilt angle based on sensor fusion process. The brushless DC hub motor (BLDC) was chosen as the wheel driving power which is equipped with hall sensor for measuring the moving distance and speed of inverted pendulum. The handle bar in front of TWIP generates the signal through potentiometer to control TWIP turning.
The model-free and robust fuzzy sliding mode controller (FSMC) is chosen for controlling this system. The experiment results show that FSMC not only can achieve TWIP stability in balance control but also achieve the velocity command in different environment (ex：flat、incline、no-load、loaded) in velocity control. The steering control algorithm also makes TWIP turning smoothly and keeps TWIP balancing. All those control schemes are integrated into the system control kernel for improving the TWIP motion performance.

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 IX
第1章 緒論 1
1.1 文獻回顧 1
1.2 研究動機 5
1.3 論文架構 5
第2章 系統架構 6
2.1 雙輪倒單擺硬體架構 8
2.1.1 三軸加速度計MMA7361 8
2.1.2 雙軸陀螺儀LPY503AL 12
2.1.3 卡爾曼濾波器(Kalman Filter) 13
2.1.4 無線通訊模組XBee S1 16
2.1.5 三相永磁無刷直流馬達 17
2.1.6 三相永磁無刷直流馬達模型 18
2.2 Arduino Nano 3.0 22
2.2.1 計時計數器與脈寬調變訊號(Timer、PWM) 24
2.2.2 類比數位轉換器(ADC) 25
2.2.3 外部訊號變化中斷(PCINT) 27
2.3 三相永磁無刷馬達架構 28
2.3.1 三相永磁無刷馬達驅動電路 30
2.3.2 橋式驅動電路 33
2.4 主控制板電路 37
第3章 系統分析 40
3.1 模糊邏輯控制 40
3.1.1 模糊集合與隸屬函數 41
3.1.2 基本模糊控制器架構 41
3.2 滑動模式控制 45
3.2.1 滑動模式控制原理 45
3.2.2 滑動模式理論基礎 46
3.3 模糊滑動模式控制 49
第4章 實驗結果 52
4.1 平衡控制實驗 53
4.1.1 實驗說明 53
4.1.2 實驗參數 54
4.1.3 FSMC平衡控制器實驗結果 55
4.1.4 實驗結果與討論 57
4.2 定速控制實驗 61
4.2.1 實驗說明 61
4.2.2 實驗參數 61
4.2.3 平地空載速度控制(V=0.2m/s)實驗結果 63
4.2.4 平地載人速度控制(V=0.2m/s) 66
4.2.5 斜坡空載速度控制(V=0.2m/s) 70
4.2.6 斜坡載人速度控制(V=0.2m/s) 73
4.2.7 實驗結果與討論 77
4.3 把手轉向實驗 80
4.3.1 實驗說明 80
4.3.2 FSMC手把轉向控制實驗結果 81
4.3.3 實驗結果與討論 85
第5章 結論與未來展望 86
5.1 結論 86
5.2 未來展望 86
參考文獻 87

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