Design and Implementation of Balance Control of Unicycle Systems

• Main Authors: Yi-LungChen, 陳奕隆
• Other Authors: Ming-Tzu Ho
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/42275814900151382804

碩士 === 國立成功大學 === 工程科學系碩博士班 === 98 === In recent years, the development of wheel-type robots has been a highly active research field. Besides the daily-life applications, because of the fact that many wheel-type robots are nonlinear or even unstable systems. They are commonly used to study the performance of many nonlinear control schemes. These electromechanical systems are very suitable for the purposes of the educational experiments and academic research. This thesis aims to design and implement a unicycle system. In this thesis, the Euler-Lagrange method is used to derive the three-dimensional dynamic model of the unicycle system. The mathematical model is then used for the system simulation and designing the feedback linearization controller and sliding mode controller for stabilizing the system. Inertial measurement devices are used to sense posture angles of the system. The complementary filter is used to obtain the less noisy feedback signals from the inertial measurement devices. We also use an analog multiplexer to acquire multiple analog signals. Finally, the stabilizing controller and complementary filter are implemented through a digital signal processor (TMS320F2812) to achieve the purpose of balance control.