Design and Construction of An Inverted Pendulum System with Dual Independent Wheels

• Main Authors: Chang-Kai Lee, 李常愷
• Other Authors: Chih-Yung Cheng
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/26838581805077571211

碩士 === 國立臺灣海洋大學 === 電機工程學系 === 99 === The purpose of this thesis is implemented of an inverted pendulum system, which includes mechanical design and analysis, organization and implementation of mechanic, circuit architecture, embedded system architecture, and a simple VT100 interface. Mechanical analysis is based on statics and dynamics , decision of gear set with motor torque; design parts with CAD, and implementation of NC( Numerical Control) machine; circuit is used with 8-bits Sonix MCU, and a motor drive circuit and the infrared sensor, the circuit board design and implementation is produced by the NC machine; and embedded architecture is designed with the state machine to ensure system stability, and design a simple resource management system to ensure that each task can be executed with certain time. It can be automatically or manually to adjust the load on the CPU. And design a compatible with VT100 console interface that allows users can be used in any computer system without any complex setup.