| 摘要: | 為使往復式足型機器人具有高避震效能，在足部平台，加入主動式避震器，取代傳統的被動機械式避震器，計畫中以磁浮裝置形成主動式避震器，置入足部機構中。然而，此磁浮避震系統具有非線性動態的特性，因此加入強健的適應模糊滑動磁浮避震控制器，以克服非線性及不確定之外來干擾。除已完成控制器設計外，並以新購入的磁浮控制系統(型號：AIREX ECP 730)，驗證此混合式智慧型控制器，然後再將實作完成的避震器雛形植入到往復式足型機器人平台，並與已完成之ZigBee無線感測、資料傳輸功能、導航系統及仿生夾爪整合，組合成一穩定的探測機器人。已完成的工作包括： (1)磁浮避震器的硬體結構設計及數學模式推導。 (2)適應模糊滑動磁浮避震控制器推導、設計、程式撰寫。 (3)使用磁浮控制裝置(型號：AIREX ECP 730)進行驗證、測試、除錯與修正。 (4)已完成磁浮避震器雛形製作。 (5)已植入足型機器人中，進行避震效能測試。 (6)另外也嘗試運用模糊建模的方式取代避震器的數學方程式。
To promote the shock absorbing ability of reciprocating-foot robot, an active suspension vibrator is embedded into the foot platform to replace the conventional mechanical passive suspension vibrator. Thus, a maglev suspension vibrator is developed in this project. However, the magnetic levitation system (MLS) possesses the characteristics of nonlinear and dynamic properties, so a robust adaptive fuzzy controller for maglev suspension vibrator is necessary to tackle the nonlinearity and external disturbances. Firstly, a novel hybrid intelligent controller for maglev suspension vibrator has been designed. Then the newly acquired magnetic control system (Model No: AIREX ECP 730) in our laboratory is utilized to debug the control algorithm and to verify its effectiveness. Finally, the implemented vibrator prototype has been applied to the reciprocating-foot platform. After embedding the achieved ZigBee WSN, data transmission function, navigation system and bionic handing gripper, the complete exploring robot can be implemented. Following works have been completed in this project. (1)Design the hardware structure and derive the mathematical model of the proposed maglev suspension vibrator. (2)Derive, design and program an robust adaptive fuzzy controller for maglev suspension vibrator. (3)Using the magnetic control system (Model No: AIREX ECP 730) to verify, debug and modify the controller. (4)The proposed maglev suspension vibrator prototype has been implemented. (5)The implemented vibrator prototype has been applied to the reciprocating-foot platform. (6)Additionally, the fuzzy model has been tried to replace the mathematical model of the proposed maglev suspension vibrator. |
