DESIGN AND IMPLEMENTATION OF A BALANCING CONTROLLER FOR TWO-WHEELED VEHICLES USING A COST-EFFECTIVE MCU
In this paper, we present our first trial of developing a tiny-sized and low-cost self-balancing two-wheel vehicle where we mainly focus on design of the sensing and control board and the balancing controller. With the considerations of cost-efficiency, we integrate the sensory systems and the balancing control systems by utilizing an embedded system based on the SUMPLUSTM SPCE061A EMU board and a CPLD, Altera EPM7128SLC84. There are three goals for our design. First, since the system is unstable in nature, it can be used as a teaching aid in the control-related courses to demonstrate the de-sign of various control schemes. Second, motion with the self-balancing capability is novel and interesting and has potential to be a toy. In addition, this trial can provide a prototype to verify the techniques and allow the possibility for further development of a commercial two-wheel vehicle in the future.
Two-wheel vehicle Balancing controller Fuzzy control Embedded system
JONG-HANN JEAN CHIH-KAI WANG
Department of Electrical Engineering, St.Johns University, Taipei, Taiwan
国际会议
2009 International Conference on Machine Learning and Cybernetics(2009机器学习与控制论国际会议)
保定
英文
3329-3334
2009-07-12（万方平台首次上网日期，不代表论文的发表时间）