Title page for 92521081


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Student Number 92521081
Author yi-min bai(白翼銘)
Author's Email Address 92521081@cc.ncu.edu.tw
Statistics This thesis had been viewed 2361 times. Download 1081 times.
Department Electrical Engineering
Year 2004
Semester 2
Degree Master
Type of Document Master's Thesis
Language zh-TW.Big5 Chinese
Title The improvement in DSP based motion control for two-wheel robot
Date of Defense 2005-06-08
Page Count 59
Keyword
  • compass
  • fuzzy control
  • gyro
  • inclinometer
  • two-wheel robot
  • Abstract The goal in this thesis is to design and control a self-balance two-wheel robot, DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In control, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot and the compass is used to know direction .Finally, We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless modem.
    Table of Content 目錄
                  頁次
    摘要I
    圖目錄V
    表目錄VIII
    第一章 緒論1
     1.1研究動機與目的2
     1.2文獻回顧2
     1.3論文目標3
     1.3論文架構3
    第二章 硬體規格與架構4
     2.1車身機構設計6
     2.1.1上半身桿子部分6
     2.1.2車子平台部分6
     2.1.3連軸器部分6
     2.2直流伺服馬達、編碼器、馬達驅動電路與輪胎7
     2.2.1伺服馬達(含減速齒輪)7
     2.2.2編碼器7
     2.2.3馬達驅動電路8
     2.2.4輪胎8
     2.3傾斜器、陀螺儀、濾波器電路與電子指南針8
     2.3.1傾斜器8
     2.3.2陀螺儀8
     2.3.3濾波器電路8
     2.3.4電子指南針9
     2.4 DSP board10
     2.5電池與電源轉換電路12
     2.5.1電池12
     2.5.2馬達穩壓電路12
     2.5.3電源轉換電路13
     2.6 RS-232無線傳輸模組與準系統15
     2.6.1 RS-232無線傳輸模組15
     2.6.2 準系統16
     2.6.3 TG-11無線發射接收模組16
    第三章 行動控制策略18
     3.1車身前進、後退控制器18
     3.1.1 模糊前進控制器19
     3.1.2歸屬函數20
     3.1.3模糊規則庫21
     3.1.4模糊推論與解模糊化21
     3.1.5車身速度補償器21
     3.1.6輕量載物前進控制器22
     3.2車身停止控制器23
     3.2.1模糊停止控制器23
     3.2.2歸屬函數24
     3.2.3模糊規則庫25
     3.2.4模糊推論與解模糊化26
     3.3左右轉向控制27
     3.3.1左右轉控制器的設計方法之一27
     3.3.2左右轉控制器的設計方法之二27
     3.4程式控制流程29
    第四章 實驗結果分析與討論31
     4.1實驗一:車身行走控制31
     4.1.1前進行動控制31
     4.1.2後退行動控制33
     4.2 實驗二:車身停止控制35
     4.3 實驗三:車身左右轉向控制37
     4.3.1.原地轉向控制37
     4.3.2.行進間轉彎控制40
     4.4載物前進控制41
    第五章 結論44
     5.1結論44
     5.2困難之處與解決方法44
     5.3未來展望45
    參考文獻47
    Reference [1] 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.
    [2] 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.
    [3] I. Loram and M. Lakie, “Human balancing of an inverted pendulum: position control by small, ballistic-like, throw and catch movements,” Journal of Physiology, 540.3, pp. 1111-1124, 2002.
    [4] Y. Takahashi, S. Ogawa and S. Machida,“Step climbing using power assist wheel chair robot with inverse pendulum control”IEEE Int. Conf. on Robot. Automat., vol. 2, pp. 1360-1365, April 2000.
    [5] F. Grasser, A. D'Arrigo, S. Colombi and A.C. Rufer, “JOE: a mobile, inverted pendulum,’ IEEE Transactions on Industrial Electronics, Vol.39, No. 1, pp. 107-114, Feb. 2002.
    [6] V. Hernandez and H. Ramirez, “ Generalized PI Control for Swinging up and Balancing the Inertia Wheel Pendulum” Proceedings of the American control Conference June 2003.
    [7] G. Welch and G. Bishop, “An Introduction to the Kalman Filter” University of North Carolina at Chapel Hill Department of Computer Science Chapel Hill, NC 27599-3175. http://www.cs.unc.edu/~{welch, gb}
    [8]A. Alessandri, G. Bartolini, P. Pavanati, E. Punta and A. Vina, “An Application of The Extended Kalman Filter for Integrated Navigation in Mobile Robotics,” Proceeding of the American Control Conference. Albuquerque New Mexico. June 1997.
    [9]“TMS320C28x DSP CPU and Instruction Set Reference Guide,” Texas Instruments, 2002.
    [10]“TMS320C28x Optimizing C & C++ Compiler User's Guide,” Texas Instruments, 2001.
    [11]“TMS320F28x Analog to Digital Converter (ADC) Reference Guide,” Texas Instruments, 2003.
    [12]“TMS320F28x Boot ROM Reference Guide,” Texas Instruments, 2003.
    [13]“TMS320F28x Control and Interrupts Reference Guide,” Texas Instruments, 2003.
    [14]“TMS320F28x Event Manager (EV) Reference Guide,” Texas Instruments, 2003.
    [15]“TMS320F28x External Interface (XINTF) Reference Guide,” Texas Instruments, 2003.
    [16]“TMS320F28x Peripherals Reference Guide,” Texas Instruments, 2003.
    [17]“TMS320F28x Serial Communications Interface (SCI) Reference Guide,” Texas Instruments, 2003.
    [18]“TMS320F28x Serial Peripheral Interface (SPI) Reference Guide,” Texas Instruments, 2003.
    [19] 王文俊,認識Fuzzy,全華科技圖書股份有限公司,2001年。
    [20] Segway之網站http://www.twsegway.com.tw
    [21] PMP之網站http://pcweb.mycom.co.jp/articles/2004/10/15/aist
    [22] Gyrobot之網站http://www.barello.net/Robots/Gyrobot/
    [23] Nbot 之網站http://geology.heroy.smu.edu/~dpa-www/robo/nbot/
    [24] 辰白編譯,DC伺服馬達應用電路技術,建興出版社,2000年。
    [25] 陳連春編譯,電源電路設計要領,建興出版社,2001年。
    [26]王文俊, “認識Fuzzy,” 全華科技圖書股份有限公司, 2001年.
    [27]沈博仁(王文俊教授指導), “倒單擺系統直立與定位之智慧型控制設計,” 國立中央大學電機工程研究所碩士論文, 1995年六月.
    [28]蔡僑倫(王文俊教授指導), “DSP主控之兩輪機器人平衡與兩輪同步控制,” 國立中央大學電機工程研究所碩士論文, 2004年六月.
    [29]王培霖(王文俊教授指導), “DSP主控之兩輪機器人行動控制,” 國立中央大學電機工程研究所碩士論文, 2004年六月.
    [30]陳家榮(王文俊教授指導), “改良式DSP主控之兩輪機器人基本控制,” 國立中央大學電機工程研究所碩士論文, 2005年六月.
    Advisor
  • Wen-June Wang(王文俊)
  • Files
  • 92521081.pdf
  • approve immediately
    Date of Submission 2005-06-28

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