Balance control of two-wheel robot with self-balanced ability

• Main Authors: Chun-Yuan Cheng, 鄭鈞元
• Other Authors: Wen-June Wang
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/22383957579445990988

碩士 === 國立中央大學 === 電機工程研究所 === 91 === The paper controls a two-wheel robot with self-balanced ability. It is divided into two parts --- the body and two wheels. We keep the balance of robot body using the computer and FPGA. We use the gyro to measure the angle and angular velocity of body and two encoders to measure velocity and position of two wheels, respectively. Fuzzy controller is used to control the robot for moving forward and backward in this paper. The two-wheel robot with self-balanced ability is finished by two students. Two theses are proposed as follows : (A)The robot balance control system and two-wheel synchronous control system are realized in the computer, respectively. They can achieve the goal of keeping the body balance and make the rotational speed of two wheels the same. (B)The forward and backward movement control system and two-wheel synchronous control system are realized in the computer, respectively. They can achieve the goal of moving forward and backward. This thesis is focused on the research of (A).