Development of a self-balancing controller for two wheeled carrying vehicle

• Main Authors: Ying-Te Wu, 吳應德
• Other Authors: Chia-Hong Chen
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/31270856737946255250

碩士 === 聖約翰科技大學 === 電機工程系碩士班 === 99 === In this thesis, a self-balancing fuzzy controller for the two wheeled carry vehicle is presented. From the opening condition of the vehicle, the fuzzy control rules were adapted and implemented in triangular membership function. And then used product inference engine to obtain the control effort of each fuzzy control rule. Finally the resulted control effort was synthesized by the center average defuzzification method. The aforementioned fuzzy controller was implemented in an embedded system which consists of Sunplustm spce061A and Altera EPM7128SLC84, furthermore the sensor and motor drive control system were also implemented in the embedded system. It provide a total solution for a two wheeled carry system. From the experimented results showed the propose fuzzy controller can achieve balancing control in normal operating condition.