Mechanism Design and Balanced Control of the Two-Wheeled Robot

• Main Authors: Ying-Jie Chen, 陳英傑
• Other Authors: Shih-Hsuan Chiu
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/41632206937832129448

碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 96 === The purpose of this thesis is to design and control a two-wheel robot with self-balanced function. The personal computer is the control center of the entire system, and use DAQ cards to retrieve the signal of sensors and encoders. For achieve two-wheel balanced function, we used fuzzy control algorithm to program the controlled codes. About the processes of control, the encoders is used to measure the angle and angular velocity of two wheels; the gyroscopei is used to measure the angular velocity of the robot; the inclined angle is got from integrating the angular velocity, and is adjusted by angle got from tiltmeter per second. We collect the information of gyroscopei, tiltmeter and encoders as the input of controller, and through calculating with fuzzy algorithm, the robot achieves self-balanced, turned right or left and moved function.