本論文設計與實現單輪平衡機器人,其控制器分為兩個部分,一為擺動平衡控制器,主要用來平衡機器人左右傾斜問題,基本原理是當機身上方的慣性輪直流馬達旋轉時,所產生的力矩與機器人的左右方向傾倒力矩相反,從而其與傾倒力矩相互抵消,使機器人可以保持左右方向平衡不跌倒;另一為移動平衡控制器,主要用來平衡機器人前後傾斜問題與機器人前後位置問題,基本原理是當機身下方的驅動輪直流馬達轉動時,改變機器人的前後位置與傾倒角度,可確保機器人保持直立不倒與所停止位置。同時,為了讓單輪平衡機器人能夠與前方障礙物保持固定距離,設計了防撞導引控制器,當前方障礙物靠近時機器人會自動往後移動,而當前方障礙物遠離時機器人會自動往前移動。最後,將所設計之控制演算法利用微電腦單晶片實際硬體實現,經由實際的實驗結果顯示本論文所設計之單輪平衡機器人擁有不錯控制效果。
This paper proposes a motion controller, which is comprised of a swing balance controller and a moving balance controller, for an unicycle balance robot. The swing balance controller is designed to balance the roll angle to the robot and the moving balance controller is designed to control the robot moving to a desired position while keep robot balancing. To allow the unicycle balance robot to maintain a fixed distance from the obstacle ahead, a guidance controller is designed to automatically move to purpose position. Finally, a microcontroller is utilized to implement the proposed control scheme. The feasibility of the proposed controller is verified through some test scenarios. The experimental results show that the proposed control system can achieve a good control response for the unicycle balance robot.