English  |  正體中文  |  简体中文  |  Items with full text/Total items : 70585/70585 (100%)
Visitors : 23078948      Online Users : 566
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version

    Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/52118

    Title: Velocity control realisation for a self-balancing transporter
    Authors: Huang,CH;Wang,WJ;Chiu,CH
    Contributors: 電機工程學系
    Date: 2011
    Issue Date: 2012-03-28 10:15:54 (UTC+8)
    Publisher: 國立中央大學
    Abstract: This study proposes the motion control design of a real self-balancing transporter (SBT) which is fabricated in the laboratory. Based on the system-on-a-programmable-chip (SoPC) developmental architecture, two controls are implemented to achieve the objectives of balanced standing and moving with a constant velocity for the SBT. Based on the Takagi-Sugeno (T-S) fuzzy model of the SBT, the parallel distributed compensation (PDC) controller is employed to achieve the mentioned controls. Then an extra Mamdani If-Then fuzzy rule base (FRB) is built to cooperate with the PDC control such that the SBT not only can stand with balance, but can also move forward with a desired constant velocity 'quickly'. The maximum emphasis is that there is a novel idea in the design of the If-Then FRB which is the relationship between the moving velocity error and the desired inclination angle of the SBT. Owing to the aids of the extra If-Then FRB, the time of the controlled response to reach the desired state is obviously shortened. This is the significant contribution of the study. Finally, both the fuzzy PDC and the If-Then FRB are realised in the SoPC platform for the real SBT. The performance and merit of the proposed control scheme is exemplified by conducting computer simulations and practical experiments.
    Appears in Collections:[電機工程學系] 期刊論文

    Files in This Item:

    File Description SizeFormat

    All items in NCUIR are protected by copyright, with all rights reserved.

    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 ©   - Feedback  - 隱私權政策聲明