Development of a self-balancing controller for two wheeled carrying vehicle
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...
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ndltd-TW-097SJSM04420102015-10-13T18:49:18Z http://ndltd.ncl.edu.tw/handle/31270856737946255250 Development of a self-balancing controller for two wheeled carrying vehicle 可載人之智慧型兩輪平衡控制車之研製 Ying-Te Wu 吳應德 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. Chia-Hong Chen Jong-Hann Jean 陳家宏 簡忠漢 2010 學位論文 ; thesis 62 zh-TW |
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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.
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Chia-Hong Chen |
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Chia-Hong Chen Ying-Te Wu 吳應德 |
author |
Ying-Te Wu 吳應德 |
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Ying-Te Wu 吳應德 Development of a self-balancing controller for two wheeled carrying vehicle |
author_sort |
Ying-Te Wu |
title |
Development of a self-balancing controller for two wheeled carrying vehicle |
title_short |
Development of a self-balancing controller for two wheeled carrying vehicle |
title_full |
Development of a self-balancing controller for two wheeled carrying vehicle |
title_fullStr |
Development of a self-balancing controller for two wheeled carrying vehicle |
title_full_unstemmed |
Development of a self-balancing controller for two wheeled carrying vehicle |
title_sort |
development of a self-balancing controller for two wheeled carrying vehicle |
publishDate |
2010 |
url |
http://ndltd.ncl.edu.tw/handle/31270856737946255250 |
work_keys_str_mv |
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