本論文主要是探討應用在倒單擺車上的模糊控制晶片之設計流程與整個系統架構。單就模糊控制器之架構而言，本文是以兩個控制器來實現硬体架構，並用組合語言來編寫整個控制流程。整個晶片的架構可分成四個模組，包括了紅外線感測器、光檢測解碼電路、模糊控制器及脈衝寬度調變等。我們將這些模組整合在一DSP單晶片上，並以此產生控制命令，去推動直流馬達驅動電路，使得倒單擺車上的倒單擺能維持平衡。
同時本論文對模糊控制晶片的架構與設計流程做一介紹，為了驗證設計晶片的可行性，我們亦針對每一個模組和整個DSP晶片做時脈和功能的模擬驗證，在幾經除錯和修正的過程後，我們把所設計的晶片實際應用在倒單擺車的即時平衡實驗上。由實驗的結果我們可以得證，所設計的模糊控制器IC可以成功的達到控制目的。

The thesis mainly probes into design flow of the fuzzy-based chip applied to inverted pendulum car and its whole system architecture. In view of fuzzy controller structure, we ultilize two controllers to realize the hardware framework and adapt assembly language to manipulate the controller. The whole chip consists of four modules, including infrared sensors, optics-estimation decode circuit, fuzzy controllers and PWM circuit. We integrate these four blocks into a single DSP chip to generate control commands, in order to drive DC motor and keep balance of the inverted pendulum on the inverted pendulum car.
Besides, this thesis will introduce the constructure and design flow of the fuzzy control chip step by step. For verification of the chip's feasibility, we will simulate timing and function of each submodules and the whole DSP chip. Finally, we will pratically examine it in real-time inverted pendulum car experiments. According to results of experiment, we can demonstrate the Fuzzy logic chip which can successfully control the inverted pendulum car and keep the pole upright.

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