Speed Control of Electric Unicycle with Microcontroller

• Main Authors: Yu-An Huang, 黃佑安
• Other Authors: Shui-Chun Lin
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/40996019062279797798

碩士 === 國立勤益科技大學 === 電子工程系 === 100 === Electric Unicycle has already been known as a kind of the energy-saving scooters. Users are able to achieve short-distance moving. As a carrier, it satisfies the demand for non-pollution and the possibility of convenience and low-cost transportation of humankind. However, the price for the Electric Unicycle is still high in existence and it causes that the Electric Unicycle is unable to be popularized. A method which might make the price lower is using the cheaper microcontroller. 　　The purpose of this thesis is to realize the motor rotary speed control of the electric unicycle with the microcontroller（W78E516B）developed by Winbond Electronics Corp as the core. Moreover, the thesis also builds a completely dynamic model of the electronic unicycle based on the Lagrangian mechanics principles, and achieves its rotary speed control by fuzzy control method. In the system, one tilt sensor（CXTA02）is employed to sense the tilt angle of the electric unicycle. When the unicycle is in operation, the tilt angle will be changed and the tilt sensor will generate the signals based on the tilt angle and transmit them to the controller. According to the computation by fuzzy control method, a Pulse Width Modulation （PWM） signal can be obtained which will be sent to the motor so as to drive the circuit to control the rotary speed. The experimental test results adequately certify that the fuzzy control method proposed in this thesis can efficiently control the motor rotary speed of electric unicycle. 　　In conclusion, this study is trying to improve the dimensions to mechanical design, component selection, and control system and so on.