本研究利用上層PC-based的視覺處理、中層FPGA-based的運動控制器與底層的馬達驅動電路完成兩輪自主機器人系統。馬達驅動電路提供轉速與電流信號並回授至中層控制器處理，而中層包含兩個運動控制器，分別由系統能量穩定與單位質量控制的概念，使用Lyapunov直接方法與逆動力學控制來設計兩種機器人的運動控制器。利用這兩種控制器的特性，規劃兩輪自主機器人的行為式控制。運動控制器的功能模組是利用VHDL實現在FPGA晶片上，功能模組包含串列傳輸、位置解碼、扭力解碼、轉速回授控制、電流回授控制與PWM訊號產生等模組。最後，利用PC-based整合三層系統，並將整合的系統應用在兩輪自主機器人上完成不同的行為式控制。 In this research, we develop a two-wheeled autonomous robot system, which is composed of an upper-level PC-based vision processor, a middle-level FPGA-based motion controller, and a lower-level motor drive circuit. This motor drive circuit provides velocity and current feedback signals which are fed back to middle-level controller. In the middle-level, two robot motion controllers are deduced from the concepts of the system stability and the unit-mass control using Lyapunov’s direct method and inverse dynamics control, respectively. These two motion controllers are utilized to develop the behaviors for the autonomous robot. All the function modules of the motion controllers are devised with VHDL on the FPGA chip, including the modules of controller design, UART, position decoder, torques decoder, velocity feedback control, current feedback control, and PWM modules. The information of three-level processors is integrated in the PC-based processor and the integrated system is expected to perform different types of behavior on the two-wheeled autonomous robots.
