智慧型兩輪行動載具控制之研究

Study of Intelligent Two-Wheeled Mobile Vehicle Control

黃信智(Hisn-Chih Huang)

指導教授 ： 陳添智

崑山科技大學/工程學院/電機工程研究所/碩士(2012年)

摘要

本文主旨在於設計與控制一具有平衡功能之兩輪行動載具(Two-Wheeled Mobile Vehicle，TWMV)。兩輪行動載具可用來搭乘人員或者是物品，其行動方式為透過裝在載具上的感測器得知載具目前的姿態，來驅動兩個獨立的車輪轉速及方向以保持平衡。
兩輪行動載具整個系統以TMS320LF2407 數位訊號處理器模組為控制核心。在控制技術上，本文提出使用模糊類神經網路法則，判別其陀螺儀輸出之角速度及傾斜儀輸出之傾斜角度，來對馬達做適當的控制。電子差速控制器來完成控制載具兩個獨立車輪的轉速差，以控制載具的左右轉。
最後，藉著實作的結果顯示控制系統的響應，藉以證明控制器的可行性及兩輪行動載具的效能。

關鍵字

模糊類神經網路 ； 電子差速控制器 ； 兩輪行動載具

並列摘要

The aim of the thesis is to control a two-wheeled mobile vehicle to stand up and remain in the upright state by itself. The two-wheeled mobile vehicle can be used to bearer persons or goods. The present state depends on the vehicle sensor to drive two independent wheel speed and direction to maintain balance.
The control core is DSP module of TMS320LF0247 for Two-wheeled mobile vehicle control. In control technology, the use of fuzzy neural network rule, discriminant analysis gyroscope output angular velocity and tilt output tilt angle to the motor for make the appropriate output correction. Two wheels are driven by the electronic differential controller to turn at desired direction.
At last, the experiment result are revealed to demonstrate the feasibility of the proposed controller and show the performance of the laboratory-typed two-wheeled mobile vehicle.

並列關鍵字

fuzzy neural network ； electronic differential controller ； two-wheeled mobile vehicle

參考文獻

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