文件名称:2010-08-26
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FNFB模擬，本論文旨在針對一自平衡兩輪電動車，發展兩種智慧適應運動控制策略及其嵌入式控制器研製技術。本文使用三星S3C2410 ARM處理器製作一台嵌入式控制器，用以實現所提的智慧適應型運動控制策略。藉由已發展的非線性數學模型，兩種結合模糊基礎網路(FBFN)之智慧適應型運動控制策略被提出，用以達成速度追蹤與轉向角速度控制。第一種智慧適應型運動控制方法使用模糊基礎網路近似學習模型不確定與時變的摩擦力，而第二種智慧適應型運動控制方法則採用模糊基礎網路直接學習該非線性控制器的能力。電腦模擬及實驗結果證實本文所建立的控制器有能力提供適當的控制動作，使得車體依照駕駛者的需求動作。-FNFB simulationThis thesis develops techniques for intelligent adaptive motion control and implementation of a self-balancing two-wheeled transporter. An embedded controller using Samsung S3C2410 ARM-9 processor is constructed to implement proposed motion control laws. With the nonlinear model of the vehicle, two kinds of intelligent adaptive motion controllers using fuzzy basis-function networks (FBFNs) are respectively proposed to achieve speed tracking
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下载文件列表
2010-08-26\A.asv
..........\Ab.asv
..........\Ab.m
..........\Bb.asv
..........\Bb.m
..........\c1.m
..........\c_dot.asv
..........\c_dot.m
..........\fb.asv
..........\fb.m
..........\fuzzy0313.mdl
..........\........._raccel_rtw\fuzzy0313.rtw
..........\....................\tlc\fuzzy0313_aux.tlc
..........\....................\...\s0_b0_124sk_Derivatives.tlc
..........\....................\...\s0_b0_124sk_ForcingFunction.tlc
..........\....................\...\s0_b0_124sk_InitializeConditions.tlc
..........\....................\...\s0_b0_124sk_Outputs.tlc
..........\....................\...\s0_b0_124sk_Start.tlc
..........\....................\...\s0_b0_124sk_Terminate.tlc
..........\....................\...\s0_b0_124sk_Update.tlc
..........\phim.asv
..........\phim.m
..........\platform.asv
..........\platform.m
..........\singlewheel_2.mdl
..........\.lprj\raccel\fuzzy0313\tmwinternal\minfo.mat
..........\.....\sl_proj.tmw
..........\theta_dot.fig
..........\thetha.fig
..........\Untitled.asv
..........\Untitled.m
..........\untitled.mdl
..........\upr.asv
..........\upr.m
..........\v.fig
..........\wb_dot.asv
..........\wb_dot.m
..........\W_dot.m
..........\slprj\raccel\fuzzy0313\tmwinternal
..........\.....\......\fuzzy0313
..........\.....\......\_sharedutils
..........\fuzzy0313_raccel_rtw\tlc
..........\slprj\raccel
..........\fuzzy0313_raccel_rtw
..........\slprj
2010-08-26
..........\Ab.asv
..........\Ab.m
..........\Bb.asv
..........\Bb.m
..........\c1.m
..........\c_dot.asv
..........\c_dot.m
..........\fb.asv
..........\fb.m
..........\fuzzy0313.mdl
..........\........._raccel_rtw\fuzzy0313.rtw
..........\....................\tlc\fuzzy0313_aux.tlc
..........\....................\...\s0_b0_124sk_Derivatives.tlc
..........\....................\...\s0_b0_124sk_ForcingFunction.tlc
..........\....................\...\s0_b0_124sk_InitializeConditions.tlc
..........\....................\...\s0_b0_124sk_Outputs.tlc
..........\....................\...\s0_b0_124sk_Start.tlc
..........\....................\...\s0_b0_124sk_Terminate.tlc
..........\....................\...\s0_b0_124sk_Update.tlc
..........\phim.asv
..........\phim.m
..........\platform.asv
..........\platform.m
..........\singlewheel_2.mdl
..........\.lprj\raccel\fuzzy0313\tmwinternal\minfo.mat
..........\.....\sl_proj.tmw
..........\theta_dot.fig
..........\thetha.fig
..........\Untitled.asv
..........\Untitled.m
..........\untitled.mdl
..........\upr.asv
..........\upr.m
..........\v.fig
..........\wb_dot.asv
..........\wb_dot.m
..........\W_dot.m
..........\slprj\raccel\fuzzy0313\tmwinternal
..........\.....\......\fuzzy0313
..........\.....\......\_sharedutils
..........\fuzzy0313_raccel_rtw\tlc
..........\slprj\raccel
..........\fuzzy0313_raccel_rtw
..........\slprj
2010-08-26