Please use this identifier to cite or link to this item: http://rportal.lib.ntnu.edu.tw:80/handle/20.500.12235/95619
Title: 兩輪滑板車物體追隨控制之設計與實現
Design and Implementation of Object Following Control of Two-Wheeld Self-Balancing Robots
Authors: 呂藝光
王偉彥
Leu, Yih-Guang
Wang, Wei-Yen
李冠東
Lee, Kuan-Tung
Keywords: 模糊控制
PID控制
非線性系統
兩輪滑板車
Fuzzy control
PID control
nonlinear Systems
two-wheeled mobile robots
Issue Date: 2016
Abstract: 本論文主要研究目的為兩輪自平衡滑板車物體追隨控制之設計與實現。兩輪自平衡滑板車之主要架構為馬達、驅動器、感測器與控制器;感測器部分包含一個三軸加速度計、陀螺儀及雷射測距儀。因兩輪自平衡滑板車具有高度非線性與時變之特性,故本論文利用混合多種控制器來完成兩輪滑板車之物體追隨控制,其中混合的控制器包括比例積分微分控制器(Proportional-Integral-Derivative controller, PID)及模糊控制器(Fuzzy Controller) 。最後,藉由電腦模擬與實驗結果來驗證整個系統的性能。
The main goal of the thesis is the design and practical investigation of object following control of a two-wheeled self-balancing robot. The body structure of the two-wheeled self-balancing mobile robot includes the motors and drivers, sensor equipment and controllers. The sensor equipment includes a three-axis accelerometer, a gyroscope and a laser rangefinder. Because the two-wheeled self-balancing mobile robot possesses the highly non-linear and time-varying characteristics, the proportional–integral–derivative controller (PID controller) and fuzzy controller are used such that the robot achieves the object following control. Finally, some simulation and experimental results are given to verify the performance of the overall system.
URI: http://etds.lib.ntnu.edu.tw/cgi-bin/gs32/gsweb.cgi?o=dstdcdr&s=%22http://etds.lib.ntnu.edu.tw/cgi-bin/gs32/gsweb.cgi?o=dstdcdr&s=id=%22G060275013H%22.&%22.id.&
http://rportal.lib.ntnu.edu.tw:80/handle/20.500.12235/95619
Other Identifiers: G060275013H
Appears in Collections:學位論文

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