| 摘要: | 本論文針對三輪全向輪型機器人提出一數位訊號處理器(DSPF2812))為基礎的實踐技術。首先，針對此平台的移動性及廣泛應用性提出討論，相關的硬體組件如：電池、穩壓器、驅動器、數位訊號處理器等，在第二章做詳細說明。緊接著，在第三章將介紹一種可用來降低量化誤差的頻律與週期混模量測技術，而一些軌跡追蹤的控制律也將做簡短介紹。在程式設計方面，主要的困難在如何以中段的技巧同時讀取三個馬達上的編碼器資訊，針對此部分在第四章有詳細的說明。為展示此建構平台之有效性，數種典型的控制律如：比例微分控制(PID)、模糊控制、以及強健適應性控制等，都將在使平台實現並比較其差異性。最後，針對本論文的完成事項及未來近一步延伸研究提出總結及討論。
DSPF2812-based implementation of a three-wheeled omnidirectional mobile platform is presented. A brief introduction to the platform and its advantages in terms of mobility and applicability is given first. Next, the constituted hardware components, such as the batteries, the voltage regulators, drivers, DSP chips, etc., are detailed in Chapter 2. Following that, some measuring techniques, namely, the mixed mode of frequency and period measurement, are proposed to reduce quantization-error encoder. In addition, in Chapter 3, some algorithms are reviewed and designed for path following. In the respect of programming, the major difficulty is the interrupt routine for reading the three encoders concurrently. A detailed description on how this is conquered is given in Chapter 4. To demonstrate the validity, various control algorithms, including the PID, the fuzzy, and the robust adaptive control schemes are implemented on the built platform. Finally, summarizes the research results and discusses ideas for future extension of the research. |
