研究生: |
李欣翰 Hsin-Han Lee |
---|---|
論文名稱: |
雙輪倒單擺車之智慧型運動控制 Intelligent Motion Control of Two Wheel Inverted Pendulum Vehicle |
指導教授: |
黃緒哲
Shiuh-Jer Huang |
口試委員: |
張以全
Peter I-Tsyuen Chang 周瑞仁 Jui-jen Chou |
學位類別: |
碩士 Master |
系所名稱: |
工程學院 - 機械工程系 Department of Mechanical Engineering |
論文出版年: | 2015 |
畢業學年度: | 103 |
語文別: | 中文 |
論文頁數: | 97 |
中文關鍵詞: | FSMC 、雙輪倒單擺車 、Arduino 、陀螺儀 、加速度計 、死區 |
外文關鍵詞: | FSMC, Two-Wheel Inverted Pendulum, Arduino, Gyroscope, Accelerometer, Dead Zone |
相關次數: | 點閱:331 下載:6 |
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本研究主要是進行雙輪倒單擺車的自動運動控制,雙輪倒單擺車使用Arduino Nano 作為控制核心,利用陀螺儀及加速度計量測車身傾斜角及車身傾斜角速度,並透過卡爾曼濾波器進行資料融合,得到較佳的傾斜角資訊。使用直流輪轂馬達作為動力源,透過旋轉編碼器量測輪轂馬達的位移量及轉速,並在前方設有轉向機構,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),由於輪轂馬達存在著死區的特性,因此將死區直接設計在模糊規則中,使其達到穩定平衡控制,並設計兩輪同步控制器、速度控制器、位置控制器以提升輪車之移動性能,經實驗結果證明,使用 FSMC 控制器能成功使倒單擺車達成各種動作之控制。
In this thesis, the design and implementation of two-wheel inverted pendulum (TWIP) vehicle motion control is investigated. Arduino Nano is used as the controller of this system. An accelerometer and gyroscope sensors are used to measure the tilt angle and angular velocity of the inverted pendulum. Kalman Filter is employed to estimate the accurate tilt angle based on sensor fusion process. DC hub motor is employed as the wheel driving power and encoders are used to measure the rotational speed of motors. TWIP vehicle turning is based on the handle bar potentiometer signal.
The model-free and robust fuzzy sliding model controller (FSMC) is chosen for controlling this system. The significantly dead zone characteristic is considered into fuzzy rule base directly. In addition, TWIP balance control, wheel synchronization control, velocity and position control blocks are designed and integrated into the system control for improving the vehicle motion performance. The experimental results show that the FSMC controller successfully monitors the TWIP vehicle dynamic operator.
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