本論文的目的是設計一部兩輪自走車的控制器，使其可以自我平衡，並模擬人員乘載操作的過程。兩輪自走車包括車體主結構與平衡系統設計，驅動元件的評估與選用，輪胎選用、傳動機構及機電整合設計與製作。為了模擬人員乘載操作的過程，在機構的設計上採用可變式重心裝置，藉由實體重心的偏移，使車身前傾或後傾，進而控制兩輪自走車前進或後退。整個系統以DSP為主控核心，來整合伺服馬達控制、電路訊號擷取與訊號處理的技術。在控制器設計上，利用傾斜計及陀螺儀測得的車體前傾或後傾角度及角速度，作為控制器的輸入，再應用模糊理論求得馬達出力值，控制車身保持平衡。本論文完成兩輪自走車的平衡控制器設計，並針對實體重心的偏移，探討兩輪自走車的運動模式，並配合模糊理論的應用，模擬出兩輪自走車的平衡模式；在感測器方面，提供正確且穩定的電壓源後，將其輸出訊號進行擷取及處理，以抑制訊號的高頻雜訊；在馬達驅動方面，利用DSP控制板產生驅動器所需的控制命令，進一步實現馬達驅動控制。 The objective of this thesis is to design the prototype of a two-wheeled transporter for human beings. The research work includes the mechanical components design and manufacturing, structure analysis and simulation, choosing of electrical motors, drivers and battery, controller design, and electromechanical system integration.The forward and backward motions of the two-wheeled transporter are depended on the position of the center of gravity (COG) of the transporter. Therefore, an adjustable mechanism is designed to change the COG position of the transporter by a remote controller. The COG is changed by moving the steel block on the conveyor in order to simulate the real operating behavior of human beings on the transporter. DSP is the major controller of the entire system, which includes fuzzy control algorithm,motor control, A/D converter and signal process etc. A tilt sensor and gyro are used to measure the inclination angle and the angular velocity of the transporter. The input signals of the controller are inclination angle and angular velocity. A fuzzy controller is designed to control the stability of this transporter by the motor outputs.The major contribution of this thesis is to develop a two-wheeled transporter for human beings. A control device of the variable load is used to analyze dynamic moving behavior, and apply the fuzzy theory in controller design, and to simulate balance model of two-wheeled transporter.
