以SoPC實現自平衡電動滑板車系統之設計與控制

SoPC Implementation to the Balance Control of an Electric Skateboard System

邱昭恆(Chao-Heng Chiu)

指導教授 ： 徐元寶

國立虎尾科技大學/電機資訊學院/資訊工程研究所/碩士(2014年)

https://doi.org/10.6827/NFU.2014.00145

摘要

本論文研究如何設計並實現一可載人的電動滑板車及其平衡控制，並將整個系統以SoPC實現。論文中將以Euler-Lagrange方法推導出滑板車之動態數學模型，並以PID控制方法模擬控制所推導出的模型。
本論文以SoPC 做為硬體平台，使用影像處理和三軸陀螺儀兩種量測方式，量測滑板車身傾斜角度，再搭配PID控制方法計算控制量，再經由數位轉類比電路控制馬達轉速，使得滑板車能達到自我平衡的目標。另外本論文使用藍牙模組可讓使用者透過智慧型手機APP程式控制滑板車前進、後退、左右轉及煞車等功能。

關鍵字

滑板車 ； PID ； 可程式單晶片系統 ； 安卓 ； 藍牙

並列摘要

This thesis studies how to design and implement a manned electric skateboard and its balance control. The whole system is implemented on a SoPC. The Euler-Lagrange equation is applied to derive the mathematical dynamic model of the skateboard, and the derived model is controlled by the PID method by simulation.
The system uses two measure methods, through image processing or IMU, to detect the skateboard body tilt angle and then uses a PID controller to balance the skateboard. Additionally, the electric skateboard can move forward and backward, make a turn, and stop motions by using an Android smart phone APP that communicates with the skateboard through Bluetooth.

並列關鍵字

Skateboard ； PID ； SoPC ； Android ； Bluetooth ； IMU

參考文獻

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