研究生: |
李珈松 Li-Jia Sung |
---|---|
論文名稱: |
車輪式倒單擺平衡PID控制 Wheeled Inverted Pendulum Balancing PID Control |
指導教授: |
施慶隆
Ching-Long Shih |
口試委員: |
黃志良
Chi-Lian Hwang 許新添 Hsin-Teng Hsu |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2005 |
畢業學年度: | 93 |
語文別: | 中文 |
論文頁數: | 70 |
中文關鍵詞: | 平衡控制 、微控制器 、PID 、車輪式倒單擺 |
外文關鍵詞: | wheeled inverted pendulum, balancing control, microcontroller, PID |
相關次數: | 點閱:459 下載:26 |
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本論文之目的為控制一車輪式倒單擺(wheeled inverted pendulum)能自動起立並在直立的狀態下自我維持平衡。控制系統包含單晶片微控制器PIC18F452與一個直流伺服馬達驅動器。系統使用一個傾斜計和一個陀螺儀來測量車身傾斜角與角速度以實現其平衡控制。本文內容包含電腦模擬與實驗結果以說明所使用之PID控制法的可行性。
The aim of the thesis is to control a wheeled inverted pendulum to stand up and remain balancing in the upright state by itself. The control system consists of single chip microcontroller PIC18F452 and a DC servo motor driver. A tilt sensor and a gyroscope are used to measure the tilt angle and its angular velocity of the inverted pendulum for realizing the balance control. Computer simulations and experimental results are performed to illustrate the feasibility of the proposed PID control method.
參考文獻
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