懸吊平台平衡控制之實現

Implementation of the Balance Control of Suspension Platforms

張煒旻(Wei-Min Chang)

指導教授 ： 黃英哲

元智大學/電機通訊學院/電機工程學系/碩士(2011年)

摘要

本論文之目的為模擬當懸吊平台承受外力干擾時能夠自主的平衡，平台承載物品時不會因為晃動而掉落。本研究使用以ARM7 LPC2131為控制器來實現主動式懸吊系統之水平運動控制。主要的特色為以LPC2131透過兩軸加速度計感測元件回授信號，分別以「對應函數法」及「PID控制法」來計算輸出的PWM訊號，並給予受控體一個適當的力，以達到平台四軸位置的控制，用以實現平台的平衡。使用ARM7 LPC2131主要的特色為體積小、成本低、省電，效能高，且執行速度快。

關鍵字

懸吊平台，加速度 ； 計

並列摘要

The purpose of this thesis is to imitate a suspension platform being able to balance itself independently while encountering external force interference and also carrying objects without falling due to shaking. In this study, the ARM7 LPC2131 acts as the controller and achieves the level of motion controller of the active suspension system. The above main feature is that the LPC2131 senses feedback signals of elements from the two-axis accelerometer. The output of PWM is calculated by using “corresponding function control method” and “PID control method” respectively. This will give the controlled object an appropriate force to achieve capabilities and accomplish the platform balance such as four-axis position control. The main characteristic of ARM7 LPC2131 is its small volume, low cost, low power consumption, high efficiency and fast execution.

並列關鍵字

suspension platforms ； accelerator

參考文獻

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