Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2324
標題: 兩輪機器人自平衡控制研究
A Study on the Balancing Control of Two-Wheel Robot
作者: 蘇昱瑋
Su, Yu-Wei
關鍵字: Two-Wheel Robot;兩輪機器人;Bluetooth;gyro sensor;PID;LQR;藍芽無線通訊;陀螺儀;PID;LQR
出版社: 機械工程學系所
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摘要: 
本研究之目的為控制一個兩輪機器人(Two-Wheel Robot)在直立狀態下自我保持平衡,並擁有超音波自動避障功能,且透過藍芽無線通訊來接收操作者之指令,如前進後退、左右轉彎等。在建構這兩輪機器人的系統中,採用NXT的ARM7微控制器來當作核心。在感測器的選取上則是採用陀螺儀,它可以藉由角速度的變化來達到兩輪機器人之平衡,而致動器則是伺服直流馬達。
在車身維持平衡工作的這段期間,可利用藍芽無線通訊將機器人所有資訊回傳至電腦端,也可從電腦端下達控制指令來達到兩輪機器人的行動控制。本文內容利用MATLAB/Simulink模擬與實驗結果來說明PID控制法則和LQR控制法則之可行性。

The purpose of this research is trying to develop a control algorithm for a Two-Wheel Robot, such that it can remain balance on it is on its upright state. Ultrasonic sensor is used for obstacle avoidance. While Bluetooth is used for commands transfer, such as moving forward, backward, turning right side or left side. In this system, a NXT ARM7 micro-control unit is used. A gyro is used to detect the angular velocity change for balancing control of the robot. This system is actuated by DC servo motor.
During the balancing control, Bluetooth can transmit the information of the robot to the computer. In the same time, it is used to deliver the control command from the computer to the robot. In this research, MATLAB/SIMULINK is used to simulate the PID control rule and LQR control rule. Finally, experiment is conduct to verify the result.
URI: http://hdl.handle.net/11455/2324
其他識別: U0005-2008200922010400
Appears in Collections:機械工程學系所

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