細菌演化模糊控制器及其在兩輪移動載具控制上之應用研究

Abstract

本文主要是將模糊控制理論結合細菌覓食演算法，調整模糊系統的設計參數應用於模糊控制系統，並應用在自行設計的兩輪移動載具。由於兩輪移動載具無法自主平衡，需要有控制器，才能達成自主平衡。系統控制核心為單晶片82G516，透過三軸加速度計與陀螺儀分別回傳角度與角速度的即時資訊，利用量測放大電路進行訊號處理，並在單晶片中建構數位濾波器(Kalman filter)、模糊控制器，使其輸出合適的PWM來控制兩輪移動載具的前進、後退並完成自我平衡的動作。從模擬的結果得知，透過細菌演化的方式，可以使得兩輪移動載具快速的穩定，並且從實作結果得知兩輪移動載具搭配模糊細菌演化系統，可以偵測人體重心，使兩輪移動載具前進、後退的功能。This thesis focuses on adjusting the design of fuzzy control systems through a combination of the fuzzy control theory and the bacterial foraging algorithm. In addition, for a self-designed two wheeled vehicle, because of the reason that two-wheeled vehicle is unable to be self-balancing, a controller is required for forming a control system. The control system kernel is Megawin 82G516 single chip. The real-time data of angle and angular velocity are transmitted respectively from 3-axis accelerometer and gyroscope to the control kernel. Through the measurement amplifier processes analog signal, along with the construction of digital filter (Kalman filter) and fuzzy controller in the single chip, the control system kernel outputs a suitable pulse width modulation (PWM) to control the two-wheeled vehicles to go forward and backward, and even to make it self-balancing. The simulation results indicate that the two-wheeled unstable vehicle becomes stable immediately through the bacterial evolution. Moreover, the experiment results show that the two-wheeled vehicle with fuzzy bacterial evolution system can detect the gravity center of body such that the two-wheeled vehicle can move forward and backward.