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Design and Implementation of Intelligent Controllers Using RWFCMAC for Omnidirectional Ball-Driven Riding Chair
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This thesis presents methodologies and techniques using nonlinear control and recurrent wavelet fuzzy CMAC (RWFCMAC) for system design, mathematical modeling and intelligent motion control of an omnidirectional ball-driven chair working on the base of a ball robot with an inverse mouse-ball driving mechanism actuated by four motors. After derivation of the coupled and decoupled models of the chair, three types of intelligent adaptive controllers are designed to allow users to ride for short distance displacement (in home, in hospital, in indoor…). With the linearized model, both adaptive self-balancing and station-keeping controllers are designed using PD control, RWFCMAC and LQR. To achieve a wide range of operations, we use the nonlinear control techniques and RWFCMAC to design and verify the second type of nonlinear adaptive self-balancing and station-keeping controllers. In the third type,nonlinear intelligent adaptive self-balancing and station-keeping controllers are synthesized based on the coupled model of the chair, in order to have a complete control framework. Moreover, the rider's weight and the friction compensation term are taken into account during the controller design process, in order to get high-performance control of the omnidirectional ball-driven chair. Simulations are conducted to examine the effectiveness of the proposed controllers.
The overall experimental control system is equipped with one digital signal processor (DSP), one dual-axis inclinometer (tilt), one rate gyroscope, and one four-
motor inverse-mouse mobile platform with four high-power servo motors with their driving circuits. The control software to realize the three aforementioned control laws
is coded by standard C language, and the control codes are executed by the DSP single-chip controller (TMS320F28335); after executing the proposed control laws, the PWM control signals are sent to corresponding driving circuits for the four DC servo motors . Through experimental results, the proposed controllers together with the built system are shown capable of providing appropriate control actions to satisfactorily achieve self-balancing and station-keeping.
展全方位球型驅動座椅的系統設計，數學建模和智慧適應運動控制的方法與其實作技術。全方位球型座椅的驅動是藉由四顆馬達驅動的反向球鼠驅動機構來讓人們，老人或行動不便者人乘坐短距離位移（亦可在家裡，在醫院，在室內場所...等）。在完成該座椅系統的耦合與解耦的數學模型推導後，三種智慧適應運動控制法則被提出自我平衡和原地位置保持控制。基於線性化與解耦數學模型，第一種自身平衡和原地位置保持控制器將被設計藉由 PD，RWFCMAC 以及 LQR 方法達成。為達成更寬範圍控制，第二種控制器使用非線性解耦數學模型以及非線性與遞迴小波模糊小腦模型控制技術，來設計非線性智慧適應模型自身平衡和原地位置保持控制法則。第三種控制器使用非線性耦合數學模型來完成完整的控制。同時騎乘者的重量以及摩擦力的補償項是被考慮進去以達成高效能的全方位球型驅動載具。電腦模擬驗證所提出的控制法則的可行性與有效性。該實驗平台包含一個數位信號處理器（DSP），一個雙軸傾角傳感器（傾斜儀），一個加速度計(陀螺儀)，以及一含四顆四個大功率伺服馬達(125W)驅動與其驅動器之反向球鼠驅動運動平台。 該系統軟體是用以 C 程式語言實現上述的三個智慧適應運動控制法則，藉由雙軸向的傾斜儀和陀螺儀的角速度傳感器計量測出騎乘者的身體傾斜角與其速率，經 DSP 單晶片控制器（TMS320 F28335）的運算後，再將 PWM 控制信號被發送到四個直流伺服馬達之驅動器，進而達成自身平衡和原地位置保持控制。實驗結果說明所提出的控制法則與所研製的系統，能夠提供適當的控制行為來達成自身平衡以及原地位置保持控制。
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