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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/35916


    Title: 全方位移動機器人之速度模糊控制器設計
    Other Titles: Fuzzy speed controller design for omni-directional mobile robot
    Authors: 鄭幹民;Cheng, Kam-min
    Contributors: 淡江大學電機工程學系碩士在職專班
    翁慶昌;Wong, Ching-chang
    Keywords: 全方位移動機器人;模糊控制器;Fuzzy controller;Mobile robot;NIOS;Omni-directional wheels
    Date: 2006
    Issue Date: 2010-01-11 07:19:54 (UTC+8)
    Abstract: 本論文主要針對具有四個全方位輪之全方位移動機器人( Fuzzy Speed Controller Design for Omni-directional Mobile Robot)提出一個模糊速度控制器來改善其控制,其可以加快全方位機器人之移動速度,讓機器人之行動更加敏捷。本論文規劃設計一個運動模擬系統並且在此模擬系統上驗證所提模糊速度控制器之效能,然後將模糊速度控制器實現在NIOS 發展電路板上來實際控制四輪全方位移動機器人。從結果顯示所提模糊速度控制器確實可以加快機器人之移動速度與行進方向穩定,而機器人實際運動狀況亦非常接近
    模擬結果,所以所規劃設計的運動模擬系統可以實際應用在機器人的移動測試上。此外,本論文提出一個以H 橋電路改良的馬達驅動電路設計,其具有電壓顯示、過電流保護、與使用單一電源即可運作等多功能設計。在電路的規劃與實現上,所採用的零件幾乎都是表面黏著元件(Surface Mounted Device,SMD),所以電路板可以有效的實現在一個3x5 平方公分的小面積上,此設計將可以方便應用在各種不同平台的使用上。透過實際的測試可以證實所設計之馬達驅動電路確實是有效可行的。
    In this thesis, an omni-directional mobile robot with four omni-directional wheels is considered and a fuzzy speed controller is proposed to improve its speed response. The proposed fuzzy speed controller can let the four-wheeled omni-directional mobile robot move faster. A mobile simulation system is developed and the proposed fuzzy speed controller is simulated in this system to test its performance. Then the proposed controller is implemented on the NIOS development board to control this four-wheeled omni-directional mobile robot. The practical control results indicate that the proposed fuzzy speed controller can actually improve its mobile speed. Moreover, an independent drive circuit is designed and implemented to drive the motor. Multiple functions of voltage display, over current protection, and single-power work are considered in this circuit design. SMD (Surface Mounted Device) components are considered to be implemented in the circuit design so that the drive circuit can be implemented on a small area of 3cm x 5cm. In the practical application, the driver circuit can effectively drive the motor and can be applied in any mobile platforms.
    Appears in Collections:[電機工程學系暨研究所] 學位論文

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