遊戲雙輪機器人之控制與實現

雙輪機器人為同時擁有移動及轉動動量的倒單擺結構系統，系統有線性、非線性、多變數等特徵。雙輪機器人有許多應用連帶造成多樣的需求，因此系統設計上應講求結構簡單，讓機器人能夠擁有靈巧的動作。本論文以實現娛樂雙輪機器人為目標來製作雙輪機器人，使用Altera的FPGA作為系統硬體發展平台，並以此建立核心模組。建立人機介面，提供控制管道及提高系統可視度，使用者透過安裝在PC的人機介面下達指令，不但能使系統自動保持直立平衡、前後行走以及轉彎等單獨運動模式，且能讓系統串聯運動模式進行連續運動，達成提高機器人娛樂的價值並可供後人研發更多高階運動模式使用。系統上主要分為兩個部分，首先在感測器部分使用陀螺儀、加速計為輸入，以卡爾曼濾波器來融合感測器訊號，使其更準確以及去除感測器的雜訊。並使用紅外線感測器，三個感測器來量測機器人當前狀態，其次，在控制系統方面採用PID控制器，該控制器可以在沒有精確的數學模型情況下運行，並擁有結構簡單容易實現的優點。接著，利用規則庫改良PID控制器。此控制方法是系統根據機器人不同的狀態，及時的調整PID參數。除兩大部分之外，本研究為提高研發效率，透過系統自動分析三個感測器的訊號，達成自動化分析PID參數並設定中心點及錯誤事件偵測。自動化設定中心點可以減少系統在不同環境下的設定時間，而錯誤事件偵測除檢察系統錯誤外也有助於後人維護系統運作。

關鍵字

雙輪機器人； PID控制器；卡爾曼濾波器；閉迴路控制

並列摘要

This research is trying to build a control system of a Two-Wheeled Entertainment Robot, two-wheeled robot is an inverted pendulum system which has multi-variables with non-linear characteristics in control. Because the robot may be applied on different working environments, the design of this system should be flexible in motion and simple in structure. The core of control system of Two-Wheeled Entertainment Robot is implemented on Altera’s FPGA. The robot can stably be balanced upright, walking and turning around by user’s instruction. The research uses many sensors and modules such as the Infrared, Gyroscope and Accelerometer to catch the signals of the posture of robot. The signals from Gyroscope and Accelerometer are process by a discrete Kalman filter before PID control. Kalman filter has the role of removing noise and predicting signals of angle of robot precisely. PID control algorithm has been used for many years and implemented without complicated mathematical models. We design a rule table of PID controller to improve the original PID controller. The control rule table uses parameters listed for different postures of robot for real-time adjustment independently. The results in experiments of motion control of two-wheeled robot have improved on stability of motion control, quick response of error of system and better robustness of system.

並列關鍵字

Two-Wheeled Robot ； PID controller ； Kalman filter ； Feedback control ； platform

參考文獻

[11] 何宗諺,陳政雄,"基於USB傳輸之及時振動監測膜組織研發, "中央大學機械工程學系研究所",2013年5月

[13] R. E. KALMAN,"A New Approach to Linear Filtering and Prediction Problems",1960

[14] Greg Welch and Gary Bishop, "An introduction to the Kalman Filter", TR 95-041 Department of computer science University of North Carolina at Chapel hill chapel hill,NV 27599-3175, Monday July 24,2006.

[16] Nguyen Gia Minh Thao, Duong Hoai Nghia, Nguyen Huu Phuc," A PID Backstepping Controller For Two-Wheeled Self-Balancing Robot, Faculty of Electrical and Electronics EngineeringHoChiMinh city University of Technology,2010

[17] Victor M. Hernandez, "A Combined Sliding Mode-Generalized PI Control Scheme for Swinging Up and Balancing the Inertia Wheel Pendulum", Asian Joumal of Control, Vol.5, No.4, pp.620-625, December 2003

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遊戲雙輪機器人之控制與實現

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