在本文中主要針對雙輪機器人系統所需之功能，設計了由DSP(Digital Signal Processor)為核心的嵌入式系統。在本研究中所使用的嵌入式系統透過陀螺儀、傾斜計等感測器，測量雙輪機器人的角度變化，並經由控制理論使馬達做出相對應的動作，使雙輪機器人系統能保持於平衡狀態。此嵌入式系統主要使用TMS320F2812晶片為核心，硬體方面整合了電源電路、訊號處理電路、外部記憶體與通訊介面等功能，在韌體方面則整合了控制理論、數位濾波、直流馬達控制等功能。
本文內容中將詳述硬體的規格與製作過程，在最後的實驗中將PC-Based的雙輪機器人控制系統移植至嵌入式系統上，並對於誤差修正、參數調整以及輸入/輸出訊號的處理方面做改進，以驗證所設計之硬體對於此類馬達控制應用的準確性。

In this paper, we design a DSP-based embedded system for wheeled robot. In the research, the embedded system receive signals from gyroscope and tilt sensor to measure the angle variables on wheeled robot, and use control method to balance wheeled robot by control the motors on it. This embedded system is using TMS320F2812 DSP chip to be the main control unit, including power transformation circuit, signal processing circuit, external memories and communication surface etc.
The content of this paper describe hardware specifications and design process about the embedded system. In final experiment we transplant origin PC-Based wheeled robot system into embedded system, amend errors, adjust parameters and improve input/output signal processing to verify the accuracy of the application on motor control system with this embedded system.

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