電動雙輪載具之模糊控制設計與實現

電動雙輪載具是頗為新穎的自動載具，不論在學術界或業界，電動雙輪載具相關論文與產品都不少，但大多是價格昂貴或屬小型兩輪車系統，無法以載具的形式出現。因此我們預計設計出具低成本、輕便、易操控與不佔空間的雙輪載具。本系統主要動力來源由兩顆DC馬達由鏈輪帶動雙輪來達到移動的目的，以模糊理論為平衡控制基礎，達到站立在電動雙輪載具上的目的，並且藉由人體前傾與後傾做到前進與後退的動作，最後再加入比例控制(proportional control)以增加其平衡控制效果，而左轉與右轉是由使用者以硬體切換機制下達指令來完成左右轉的動作。此電動雙輪載具系統大致由下列幾項要素構成：一、電動雙輪載具主體：製作出符合需求的主體，以低成本為前提製作出穩固的車體架構。二、動力來源：電動雙輪載具以DC有刷馬達配合減數機搭配出合適的扭力與轉速做為車體的動力來源。三、控制電路：以微電腦控制晶片為主，加上周邊電路IC所構成的電路，將理論寫入單晶片中達到控制效果。四、感測器：兩輪電動滑板車須加裝感測器傾斜計與陀螺儀，方便測量出車體角度與角速度。五、電力來源：主要是以12V 4.5AH 鉛酸電池為主，串聯6顆72V以達到馬達電壓要求，鉛酸電池有輸出容量大、成本低廉之優點，而重量較重是其缺點。

關鍵字

電動雙輪載具；模糊控制器；微電腦控制晶片； Segway

並列摘要

This thesis proposes an Proportional Fuzzy Controller (PFC) for two-wheeled vehicle control problem. The main purpose of this paper is to develop a self-balancing and motion control strategy. In this thesis, the sensors tilt and gyro are used to measure the two-wheeled vehicle angle and the angular velocity. In addition, the encoder is used to measure the two-wheeled vehicle position and velocity. The real-time two-wheeled vehicle information is selected for the inputs of controller. Finally, the two-wheeled vehicle achieves self-balance, position fixing, going forward and backward, making a turn, climbing up, stopping and something on experimental results. Experimental results show that the proposed Proportional fuzzy control strategy can control the whole system very well.

並列關鍵字

fuzzy control ； Two-wheeled Vehicle ； Proportional control

參考文獻

[6] A. Nishi. and H. Miyagi, “ Design of a Robot Capable of Moving on a Vertical Wall”, Advanced Robotics, 1-1, pp. 33-45, 1986.

[7] S. C. Lin and C. C. Tsai, “Development of a Self-Balancing Human Transportation Vehicle for the Teaching of Feedback Control”, IEEE Trans. education, vol. 52, no. 1, pp. 157-168, February 2009.

[8] C. C. Tsai, H. C. Huang, and S. C. Lin, “Adaptive Neural Network Control of a Self-Balancing Two-Wheeled Scooter”, IEEE Trans. Industrial Electronics, vol. 57, no. 4, pp. 1420-1428, April 2010.

[9] Pradeep K. W. Abeygunawardhana and Toshiyuki Murakami, “Vibration Suppression of Two-Wheel Mobile Manipulator Using Resonance-Ratio-Control-Based Null-Space Control”, IEEE Trans. Industrial electronics, vol. 57, no. 12, December 2010.

[10] J. Huang, Z. H. Guan, T. Matsuno, T. Fukuda, and K. Sekiyama, “Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems”, IEEE Trans. robotics, vol. 26, no. 4, pp. 750-758, August 2010.

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電動雙輪載具之模糊控制設計與實現

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