| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 95 === 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.
|
|---|
