| DC 欄位 |
值 |
語言 |
| DC.contributor | 電機工程學系 | zh_TW |
| DC.creator | 陳家榮 | zh_TW |
| DC.creator | Jun-Rong Chen | en_US |
| dc.date.accessioned | 2005-6-28T07:39:07Z | |
| dc.date.available | 2005-6-28T07:39:07Z | |
| dc.date.issued | 2005 | |
| dc.identifier.uri | http://ir.lib.ncu.edu.tw:444/thesis/view_etd.asp?URN=92521082 | |
| dc.contributor.department | 電機工程學系 | zh_TW |
| DC.description | 國立中央大學 | zh_TW |
| DC.description | National Central University | en_US |
| dc.description.abstract | 本論文主要是設計與控制一個兩輪機器人，在建構這兩輪機器人的系統中，採取DSP 2812為核心，整合了包括伺服馬達控制、外部電路訊號擷取、無線模組訊號接收、數位濾波器以及模糊控制演算法..等等，在控制上，主要採取車身感測器傾斜器與陀螺儀的資訊來控制車身的平衡，並利用電子指南針來補助車身方位的修正，接著採用馬達編碼器所回授的資訊得知車身目前位置與速度。最後利用這些資訊的整合設計模糊前進控制器、車身停止控制器、與車身轉彎控制器，藉由遙控器所下達的指令來控制車身前進、後退、轉彎、行進間轉彎、車身停止..等行動控制。在車身維持工作的這段期間，利用無線數據機把車身所有資訊回傳至電腦端，藉由電腦端可監控兩輪機器人目前整體狀態，並可從電腦端下達控制指令來達到兩輪機器人的行動控制。 | zh_TW |
| dc.description.abstract | We develop and control a two-wheel robot which the core DSP F2812 integrates a lot of parts including motor servo control, external circuit signals, wireless transmission module, analog filter, digital filter, and fuzzy control algorithm. The dynamic sensors tilt and gyro are used to control the balance of the robot and the sensor digital compass is used to correct the directional error of the body and then getting the position and velocity by the feedback of the encoder. Through the integration of the information, we implement the designed fuzzy controllers to make the robot balance, move forward and backward, turn, and stop. In the period of running, getting the status of the robot and issuing the commands are transmitted via wireless transmission module. | en_US |
| DC.subject | 平衡 | zh_TW |
| DC.subject | 數位訊號處理 | zh_TW |
| DC.subject | 模糊 | zh_TW |
| DC.subject | 兩輪 | zh_TW |
| DC.subject | 電子指南針 | zh_TW |
| DC.subject | digital compass | en_US |
| DC.subject | fuzzy | en_US |
| DC.subject | DSP | en_US |
| DC.subject | balance | en_US |
| DC.subject | two wheels | en_US |
| DC.title | 改良式DSP主控之兩輪機器人基本控制 | zh_TW |
| dc.language.iso | zh-TW | zh-TW |
| DC.title | Improvement in DSP based motion control for two-wheel robot | en_US |
| DC.type | 博碩士論文 | zh_TW |
| DC.type | thesis | en_US |
| DC.publisher | National Central University | en_US |