近年來輪型機器人的發展研究受到高度重視，除了應用於日常生活外，由於許多輪型機器人為非線性系統或甚至是不穩定的系統，故常被用來驗證各式非線性控制理論的效能，是非常適合學術研究和教學實驗用途的機電系統。本論文旨在設計並實現一單輪車系統，並使其能穩定平衡。論文中吾人以Euler-Lagrange法推導其完整的三維空間動態數學模型，再針對此數學模型進行系統模擬以及設計回授線性化控制器與順滑模態控制器，論文中吾人以慣性量測元件來偵測系統姿態，並輔以互補濾波器以得到較佳之回授訊號，且採用類比多工器達到擷取多組訊號之目的，最後以數位訊號處理器(TMS320F2812)實現平衡控制器以及互補濾波器並使系統達到穩定平衡。

In recent years, the development of wheel-type robots has been a highly active research field. Besides the daily-life applications, because of the fact that many wheel-type robots are nonlinear or even unstable systems. They are commonly used to study the performance of many nonlinear control schemes. These electromechanical systems are very suitable for the purposes of the educational experiments and academic research. This thesis aims to design and implement a unicycle system. In this thesis, the Euler-Lagrange method is used to derive the three-dimensional dynamic model of the unicycle system. The mathematical model is then used for the system simulation and designing the feedback linearization controller and sliding mode controller for stabilizing the system. Inertial measurement devices are used to sense posture angles of the system. The complementary filter is used to obtain the less noisy feedback signals from the inertial measurement devices. We also use an analog multiplexer to acquire multiple analog signals. Finally, the stabilizing controller and complementary filter are implemented through a digital signal processor (TMS320F2812) to achieve the purpose of balance control.

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