本論文主要設計與控制具有自我平衡能力之雙輪機器人。整個系統以電腦為控制核心，透過資料擷取卡傳輸機器人與電腦的資訊，將模糊控制理論撰寫成系統控制程式，實現兩輪平衡功能。在控制流程中，用陀螺儀測量機器人傾斜角速度，透過積分得到機器人傾斜角度，且每隔1秒就用傾斜計測量的角度來校正陀螺儀積分角度，透過馬達後方的光學編碼器來得知馬達轉動角度與角速度，將陀螺儀、傾斜計與光學編碼器的資訊作為控制器的輸入，以模糊控制理論計算後，控制馬達轉動，以達到動態平衡的目的。實驗驗證的結果，成功使機器人穩定平衡，並維持本體傾斜角度在±0.2∘內，當使用者下達轉動命令時，能控制機器人左右轉動；下達移動命令時，機器人往前傾斜且開始移動，如無轉動或移動命令，機器人將在原地保持平衡，故本文成功使機器人具有平衡、左右轉與移動的功能。

The purpose of this thesis is to design and control a two-wheel robot with self-balanced function. The personal computer is the control center of the entire system, and use DAQ cards to retrieve the signal of sensors and encoders. For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second. We collect the information of gyroscopei, tiltmeter and encoders as the input of controller, and through calculating with fuzzy algorithm, the robot achieves self-balanced, turned right or left and moved function.

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