本文旨在應用運動感測器及雷射測距儀於滾球與球桿平衡控制系統，實現滾球的定點與軌跡追蹤控制。運動感測器包含加速度計及陀螺儀，經由互補濾波器融合量測數據，使得濾波後的角度訊號更為準確，進而適用於球桿角度的狀態回授。滾球位置則由安裝於球桿兩端的雷射測距儀來共同量測，並使用卡爾曼濾波器處理雷射測距儀的量測訊號。本文首先推導滾球與球桿系統的數學模型，接著探討感測器於滾球與球桿平衡控制系統上的可行性與其整合，最後設計PD-PI與LQR-PI兩種串級控制器，分別以滾球定點平衡、多定點平衡與軌跡追蹤實驗來驗證其控制性能。

This thesis proposes utilizing a motion sensor and two laser-ranging sensors with an application in ball-beam control system to implement set-point and trajectory tracking control. To obtain accurate beam angle, a complementary filter is used to fuse the data measured by the motion sensor containing an accelerometer and a gyroscope. The ball position is measured by two laser-ranging sensors placed at both ends of the beam, and a Kalman filter is used to smooth the measurement data. This thesis first studies the mathematical model of the ball-beam system. In addition, this research discusses the feasibility assessment and integration of various sensors. Finally, two controllers, PD-PI and LQR-PI, are designed and their performance is verified via the experiments of single-point position control, multi-point position control and trajectory tracking control.

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