二輪自走車之設與實現

The Design of The Two-Wheel Vehicle

周烜達(Hsuan-ta Chou)

指導教授 ： 王文俊

國立中央大學/資訊電機學院/電機工程學系/碩士(2007年)

摘要

本論文主要在改良學長設計的兩輪車，並且加入重心裝置於兩輪車上，使兩輪車可以自我平衡並以重心移動來帶動兩輪車前後行進。整個系統以Nios CPU作為主控核心，整合馬達控制、電路訊號擷取、無線訊號傳輸與訊號處理的技術，並將模糊控制器建構在系統晶片本身，實現模糊控制的機器人系統。在控制流程上，使用傾斜器（Tilt）與陀螺儀（Gyro）分別量測車身的傾斜角度與角速度，另外使用馬達編碼器（Encoder）量測車子馬達轉動的角度及角速度。根據傾斜器、陀螺儀、馬達編碼器所回授的即時車身資訊當作輸入，建立車體各種行動模式的模糊控制器，計算輸出之後，以FPGA實現的PWM訊號來控制兩輪馬達的轉動和重心裝置的滑車位置，使得兩輪車具備平衡、定位、同步、左右轉向、前進與後退、煞車停止、定速上下坡等功能。與學長成果最大不同處有以下幾點：1. 本成品用重心移動帶動車子前進或後退，不同於學長的遙控方式；2. 我重新設計了馬達驅動電路，給與馬達更大的功率，本成品可以上下殘障斜坡，學長的做不到。

關鍵字

機器人控制 ； Segway ； 模糊控制

並列摘要

The purpose of this thesis is to improve the design and control for the two -wheel vehicle which was implemented by former senior labmates. NIOS CPU is the control center of the entire system, which includes fuzzy control algorithm, motor control, A/D converter, wireless communication and signal process etc. In control process, the sensors, tilt and gyro, are used to measure the inclination angle and the angular velocity of the vehicle. Furthermore, the encoder is used to measure rotational angle velocity and rotational angle of motors of the vehicle. The real-time sensor measurements are selected for the inputs of each motion fuzzy controller. The outputs of fuzzy controllers are converted to PWM signals by FPGA to control motors of the vehicle, and position of the sliding mass cart. Finally, the two-wheel vehicle achieves self-balance, position control, going forward and backward without turning, turning around, climbing up and going downhill, stopping etc. It should be emphasized that the main differences between this thesis and the works of senior labmates are as follows. 1. The sliding of the center of gravity (sliding mass cart) instead of remote control drives the wheel moving forward or backward. 2. The new designed driving circuit provides much larger power to the motors such that the wheel can climb up and go down the hill for disabled people. The difficult was not overcome by the senior labmates.

並列關鍵字

Segway ； Fuzzy Control ； Robot Control

參考文獻

〔10〕 黃正豪（王文俊教授指導）, “兩輪自走車之設計與實現-NIOS為核心之行動控制,” 國立中央大學電機工程研究所碩士論文, 2006年六月.

〔9〕 李垂憲（王文俊教授指導）, “兩輪自走車之設計與實現-NIOS為核心之基本控制,” 國立中央大學電機工程研究所碩士論文, 2006年六月.

〔17〕 張育源（徐國鎧教授指導），“無刷直流馬達無感測器驅動系統之研製,” 國立中央大學電機工程研究所碩士論文, 2002年六月.

〔11〕 M. Sasaki, N. Yanagihara, O. Matsumoto and K. Komoriya, “Forward and Backward Motion Control of Personal Riding-type Wheeled Mobile Platform,” International Conference on Robotics & Automation, New Orieans, LA April 2004.

〔13〕 Y. Ha and S. Yuta, “Trajectory Tracking Control for Navigation of Self-Contained Mobile Inverse Pendulum,” IEEE/RSJ/GI Int. Conf. on Advanced Robotic Systems and the Real World'', vol. 3, pp. 12-16, September 1994.