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System Design and Control of an Omnidirectional Ball-Driven Vehicle
|關鍵字:||全方位球型驅動椅;Omnidirectional Ball-Driven Vehicle;線性二次調整;模糊小腦網路;模糊小波小腦網路;Linear quadratic regulator;Fuzzy CMAC;Wavelet fuzzy CMAC||出版社:||電機工程學系所||引用:||References  S. C. Lin, C. C. Tsai, “Development of a self-balancing human transportation vehicle for the teaching of feedback control,” IEEE Trans. Ed. Vol.52, no 1, pp. 157–168, 2009.  M. Sasaki, N. Yanagihara, O. Matsumoto, K. Komoriya, “Steering control of the personal riding-type wheeled mobile platform (PMP),” In: Proc. IEEE International Conference on Intelligent Robots and Systems, pp. 1697–1702, 2005.  R. D. Petty, “Transportation technologies for community policing: a comparison,” In: Proc. IEEE ISTAS/CPTED’03, pp. 33–38, 2003.  M. Kumagai, T. Ochiai, “Development of a robot balancing on a ball,” Proceedings of 2008 International Conference on Control, Automation and Systems, pp. 433-438, Oct. 2008.  Z. Sheng, and K. 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本論文提出對於全方位球型驅動載具的系統設計，數學建模和運動控制的方法和技術。全方位球型驅動載具是藉由四顆馬達驅動的反向球鼠驅動機構的球形機器人為基礎。此外，它包含一個數位信號處理器（DSP），一個雙軸傾角傳感器（傾斜儀），一個速率陀螺儀，兩個針對X-Z平面和Y-Z平面的PD控制器來達成自我平衡和速度控制。為了往一方向移動， 坐在上面的騎乘者必須稍微向前或往後傾斜自身來改變他的傾角。系統載具的用處是讓人們，老人或行動不便者人乘坐短距離位移（亦可在家裡，在醫院，在企業...等）。此功能的硬體實現是利用四個大功率伺服馬達與他們的驅動器，以反向球鼠驅動為本論文提出對於全方位球型驅動載具的系統設計，數學建模和運動控制的方法和技術。全方位球型驅動載具是藉由四顆馬達驅動的反向球鼠驅動機構的球形機器人為基礎。此外，它包含一個數位信號處理器（DSP），一個雙軸傾角傳感器（傾斜儀），一個速率陀螺儀，兩個針對X-Z平面和Y-Z平面的PD控制器來達成自我平衡和速度控制。為了往一方向移動， 坐在上面的騎乘者必須稍微向前或往後傾斜自身來改變他的傾角。系統載具的用處是讓人們，老人或行動不便者人乘坐短距離位移（亦可在家裡，在醫院，在企業...等）。此功能的硬體實現是利用四個大功率伺服馬達與他們的驅動器，以反向球鼠驅動為基礎的球型車輪運動和平台。
This thesis presents methodologies and techniques for system design, mathematical modeling and motion control of an Omnidirectional Ball-driven Vehicle. The objective of the vehicle is designed to allow people, elderly or disabled to ride for short distance displacement (in home, in hospital, in enterprise…). The Omnidirectional Ball-driven Vehicle works on the base of a ball robot with an inverse mouse-ball driving mechanism actuated by four motors. The proposed control system is equipped with one digital signal processor (DSP), one dual-axis inclinometer (tilt), one rate gyroscope, two PD controllers for X-Z and Y-Z planes to achieve self-balancing and speed control. To move the vehicle in any direction, the rider, sitting on it, must tilt himself slightly to change his appropriate inclination. The hardware implementation of this vehicle is the use of four high-power servo motors with their drivers, an inverse mouse-driven based ball-type wheel motion and a platform.
The system software is realized and coded by standard C language according to the rider’s tilt angle which is measured by the dual-axial inclinometer and gyro angular velocity sensing. The operation is performed by the DSP single-chip controller (TMS320F28335); after executing the double-PD control laws, the PWM control signals are sent to the four DC servo motors via the drivers. With the linearized model, both self-balancing and speed controllers are designed using LQR approach. The nonlinear adaptive self-balancing controller is also designed using the wavelet fuzzy CMAC. Moreover, the rider’s weight and the friction compensation term are taken into account in order to get high-efficiency and high-performance control of the omnidirectional ball-driven vehicle. In particular, the friction compensation term can also be done by the wavelet fuzzy CMAC. Simulations and experimental results are conducted to indicate that the proposed control system is capable of providing appropriate control actions to satisfactorily achieve self-balancing and speed control.
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