中大機構典藏-NCU Institutional Repository-提供博碩士論文、考古題、期刊論文、研究計畫等下載:Item 987654321/52046
English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 70585/70585 (100%)
造訪人次 : 23076715      線上人數 : 386
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋


    請使用永久網址來引用或連結此文件: http://ir.lib.ncu.edu.tw/handle/987654321/52046


    題名: Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum
    作者: Huang,CH;Wang,WJ;Chiu,CH
    貢獻者: 電機工程學系
    關鍵詞: MOBILE ROBOT;TRAJECTORY TRACKING;FPGA;STABILIZATION;TRAILERS;VEHICLE;SYSTEMS;SCHEME
    日期: 2011
    上傳時間: 2012-03-28 10:14:06 (UTC+8)
    出版者: 國立中央大學
    摘要: This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology. The control scheme includes three kinds of fuzzy controls which are the fuzzy balanced standing control (FBSC), the fuzzy traveling and position control (FTPC), and the fuzzy yaw steering control (FYSC). Based on the Takagi-Sugeno fuzzy model of the TWIP, the FBSC is a structure of a parallel distributed compensator solved by the linear matrix inequality approach. Based on the motion characteristic of the TWIP, the FTPC and the FYSC are designed with Mamdani architecture if-then rules. Furthermore, the fuzzy control scheme for the real TWIP is implemented into an SoPC development board with an embedded reduced-instruction-set-computer soft-core processor and user intellectual property modules. Both the computer simulations and practical experiments demonstrate the effectiveness of the proposed control scheme.
    關聯: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
    顯示於類別:[電機工程學系] 期刊論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    index.html0KbHTML225檢視/開啟


    在NCUIR中所有的資料項目都受到原著作權保護.

    社群 sharing

    ::: Copyright National Central University. | 國立中央大學圖書館版權所有 | 收藏本站 | 設為首頁 | 最佳瀏覽畫面: 1024*768 | 建站日期:8-24-2009 :::
    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - 回饋  - 隱私權政策聲明