兩輪機器人系統是一個兩輪自我平衡的機器車，可以以無線搖控方式，控制其前進、後退、轉彎與定位，此系統主要是以DSP F2812來做整個控制器的核心，包括：模糊控制演算法、馬達伺服控制、A/D Converter、類比濾波器、數位濾波器、無線數據機…等。系統中使用車身動態感測器（傾斜器、陀螺儀）量測車身傾斜角度及角速度，利用類比低通濾波器及數位濾波器進行訊號處理，以準確的計算車身與地面傾斜的角度及角速度等資訊，再使用編碼器量測車子馬達轉動的速度及角速度。接著以模糊控制演算法，利用重心之調整來維持兩輪機器人車身的平衡。最後再利用無線數據機，從電腦發出行動控制命令至兩輪機器人，使得兩輪機器人產生前進、後退、左右轉彎…等的控制功能。 Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless modem.
