双轮自走车平衡及定位控制.docVIP

雙輪自走車平衡及定位控制 Balancing and Positioning Control for Two-wheeled Vehicle 研究生：陳崇煒 指導教授：楊榮華 Yang, JungHua 【摘要】 本研究之主要目的是將雙輪自走車系統利用強健之適應性控制，使自走車能夠快速的達到平衡且定位不再搖晃，其主要的平衡方法為利用直流馬達藉由輸入正電壓或負電壓產生平衡力使得當自走車在受到外力推動時能有效的達到穩定。並利用光學編碼器來讓自走車移動到目地的。在本研究中，則以一個二階的動態模型來代表整個自走車模組的動態反應。當非線性適應性控制器設計完成後，利用上述所推導出來之動態模型來驗證控制器的可行性。結果顯示，所設計的控制器能夠成功的控制雙輪自走車的車身水平角度以及車身行進的位移量，並提高其實用性與可靠性。 若採用傳統的XPC介面控制方法將無法有效的在開放空間進行實驗；在本研究中運用DSP模組來作為雙輪自走車的控制介面，如此一來就可以達到stand alone，不須再外接線路。 關鍵詞： 雙輪自走車、適應性控制、非線性系統、DSP The main purpose of this research is using the adaptive robust control to two-wheeled vehicle system, quickly achieve balancing and positioning then no longer shaking, the foremost balancing approach is to use the DC motor by input voltage or negative voltage is generated counterweight , can be effectively stabilized. In this research, use a second-order dynamic model to represent the two wheeled vehicle model dynamic response. When the adaptive robust controller design is accomplish, use the above derived the dynamic model to verify the feasibility of the controller. The results show that the designed controller can successfully control the body level angle and the moving displacement. If using the traditional XPC interface control will not in open space be able to experiment; In this research, using the DSP blocks as the control interface to two-wheeled vehicle, this ideal we can achieve stand alone, dont need for an external line, increase its usefulness and reliability. Keywords: two-wheeled vehicle, adaptive control, nonlinear system, DSP