| Summary: | 碩士 === 淡江大學 === 電機工程學系碩士班 === 98 === In this thesis, a two-input-one-output fuzzy controller is design and implemented based on the SOPC (System on a Programmable Chip) technique to let the implemented two-wheeled robot can balance by itself and let the robot reinstate the balancing state quickly when some output perturbation is produced. The chassis of robot has two wheels which are controlled by two DC motors and the control board of robot is a Nios II development board which processes all the signal and motor control. In the signal process, an one-axle gyro and a three-axle accelerometer are used to measure the tilt angle and angle velocity of robot. Furthermore, the Kalman filter is used to improve the measurement errors caused by the gyro and accelerometer so that a correct tilt angle can be obtained. The tilt angle measured by the Kalman filter and the angle velocity measured by the gyro are used to be two inputs of fuzzy controller, and the motor speed is the output of fuzzy controller. The PWM signal based on the SOPC technique is realized to control two DC motors. From some experiment results, we can see that the implemented fuzzy controller actually let the two-wheeled robot balance by itself.
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