English  |  正體中文  |  简体中文  |  Items with full text/Total items : 43312/67235
Visitors : 2108351      Online Users : 15
RC Version 5.0 © Powered By DSPACE, MIT. Enhanced by NTU/NCHU Library IR team.
National Chung Hsing University Institutional Repository - NCHUIR > 工學院 > 機械工程學系所 > 依資料類型分類 > 碩博士論文 >  麥卡輪式全向機器人之模糊PD控制設計與C8051微控制器實現

Please use this identifier to cite or link to this item: http://nchuir.lib.nchu.edu.tw/handle/309270000/155131

標題: 麥卡輪式全向機器人之模糊PD控制設計與C8051微控制器實現
Fuzzy PD Control Design and C8051 Microcontroller Implementation for an Omni-Directional Four-Mecanum-Wheeled Robot
作者: 林敬勛
Lin, Ching-Hsun
Contributors: 林麗章
機械工程學系所
關鍵字: Mecanum輪全向式機器人;模糊PD控制;Simplex法;C8051微控制器實現
Mecanum-wheeled mobile robot;fuzzy PD control;simplex method;C8051 microcontroller implementation
日期: 2013
Issue Date: 2013-11-21 11:37:27 (UTC+8)
Publisher: 機械工程學系所
摘要: 本論文針對四個Mecanum輪驅動之全向式機器人系統,由輪子的滾動與滑動條件,推導全向式機器人的速度運動學方程式,並以Lagrange方程式建立其動力學方程式。本文接著使用Simplex法進行四個關節的獨立式模糊PD控制器最佳設計,以追蹤所規劃的軌跡。由設計模擬中,可了解所提控制器的控制性能。最後使用C8051F120微控制器實際製作控制系統,透過SPI通訊協定擷取加速度計和陀螺儀的量測訊號,並經由UART通訊協定傳送控制命令和量測資料給電腦以記錄實驗結果,驗證所提控制策略之效果。
In this thesis, an omni-directional wheeled robot with four Mecanum wheels is considered and fabricated. Based on the rolling and sliding constraints of the omni- directional wheels, the kinematics model of the robot is first derived, and then its complete dynamics model is derived using Lagrange’s equations. And an optimal independent-joint fuzzy PD controller is designed via the Simplex method to control the omni-directional four-Mecanum-wheeled robot that can track arbitrary desired trajectories. Computer simulations are presented to investigate the control performances. Finally, C8051F120 microcontroller-based mechatronic system is constructed to implement the suggested control law. The microcontroller is used to acquire the measurement signals of the accelerometer and gyroscope via SPI interface, and calculate the control torque commands. The signals are also transmitted to PC by UART interface for recording. The experimental results are presented for illustrating the control performance.
Appears in Collections:[依資料類型分類] 碩博士論文

Files in This Item:

File SizeFormat
index.html0KbHTML157View/Open


 


學術資源

著作權聲明

本網站為收錄中興大學學術著作及學術產出,已積極向著作權人取得全文授權,並盡力防止侵害著作權人之權益。如仍發現本網站之數位內容有侵害著作權人權益情事者,請權利人通知本網站維護人員,將盡速為您處理。

本網站之數位內容為國立中興大學所收錄之機構典藏,無償提供學術研究與公眾教育等公益性使用。

聯絡網站維護人員:wyhuang@nchu.edu.tw,04-22840290 # 412。

DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU/NCHU Library IR team Copyright ©   - Feedback