臺灣博碩士論文加值系統

本論文旨在應用直流馬達於自走車控制上。本研究以單晶片(Arduino UNO)為基礎去控制自走車之開發，其核心架構包含車體結構、驅動控制以及伺服馬達設備，藉由紅外線循跡及遠端連線方法找出理想的控制參數，將獲取分數提高為設計目的。
實驗設計考量主要將自走車的分數提高最大化，設計主要著重於車子的輕量化，因此使用直流馬達為自走車的動力供應來源，並藉由ICL293D來控制馬達之正反轉；控制方式，運用對感測器的設計，並思考控制馬達的參數由單晶片(Arduino UNO)中的控制邏輯來對自走車的行為控制。
本研究運用田口法對影響母群平均數與母群變異數相關因素進行最佳化分析，分析後的結果開發出最佳化設計。並以模糊理論對母群平均數與母群變異數等二品質特性求得可控因子的最佳水準組合來佐證田口法的設計，再由雙反應曲面法驗證多目標參數之正確性，使得實驗局結果達到最佳化。

The purpose of this paper is to apply the DC motor to the self-propelled vehicle. In this study, the development of self-propelled vehicle is carried out with Arduino UNO. The core architecture includes body structure, drive control and servo motor equipment. The optimal control parameters are obtained by optimizing the method, and the travel time is shortened to aim of design.
The design of the design mainly to minimize the travel time of the car, the design is mainly focused on the weight of the car, so the use of DC motor power supply for the self-propelled source, and by ICL293D to control the motor forward and reverse; The use of the design of the body, and consider the parameters of the control motor from the single-chip (Arduino UNO) in the control logic to control the behavior of the car.
In this study, the Taguchi method was used to optimize the factors affecting the average number of mothers and the number of variation of the parent group, and the results were analyzed. And the fuzzy standard is used to support the design of Taguchi method, and then the correctness of the multi-objective parameters is verified by the double reaction surface method, and the correctness of the multi-objective parameters is verified by the fuzzy theory. The experimental solution is optimized design.

摘要 ..................................................................................I
ABSTRACT ............................................................................................II
致謝 ............................................................................................Ⅲ
目錄 ……………………….....................................................................IV
圖目錄 ..............................................................................V
表目錄 ..............................................................................................Ⅶ
第一章 緒論 ........................................................................................1
1.1 研究動機 ...................................................................................1
1.2 文獻探討 ..........................................................................................1
1.3 研究目的與方法 .............................................................................2
1.4 章節介紹 ...................................................................................3
第二章直流馬達及感測器介紹..........................................................5
2.1馬達............................................................................5
2.1.1 TT系列直流馬達特性...........................................................6
2.1.2馬達控制用IC L293D .........................................................9
2.1.3馬達控制用IC L293D .........................................................10
第三章 單晶片與驅動之選用介紹 ...............................................11
3.1 單晶片選用 ........................................................................................11
3.1.1 單晶片Arduino之介紹 ..................................................12
3.2無線傳輸方式介紹.......................................................................14
3.2.1無線傳輸原理介紹...................................................15
第四章 實驗架構與方法介紹 .......................................................17
4.1 系統架構規劃 .....................................................................17
4.2 實驗開發與流程介紹 ...........................................................18
4.3 自走車遙控導航 ..................................................................20
4.3.1 自走車遙控環境設計 .........................................................20
4.3.2 自走車遙控原理介紹 ........................................................20
4.4 智慧型感測器應用於自走車 ................................................22
4.4.1 智慧型感測器應用於自走車原理介紹 ................................22
4.4.2 應用智慧型感測器於自走車控制邏輯 ................................22
4.4.3 應用智慧型感測器於自走車實際運動方式 ..........................27
第五章 實驗結果最佳化分析與綜合比較 ..........................................35
5.1 最佳化實驗設計分析與探討……………………………….........................35
5.2 專案一至三之最佳化結果彙整 ...................................................................38
5.3雙反應曲面法專案四至六之結果討論 ..........................38
5.4雙反應曲面專案四和七至八之結果討論 ............................40
第六章 結論和未來展望 ..........................................41
6.1 結論 ..................................................................41
6.2 未來展望與願景 ....................................................42
參考文獻 ................................................................................43
附錄一 詞彙中英對照.................................................................45
附錄二 模糊推論田口方法EXCEL試算表..................................47
附錄三 模糊推論雙反應曲面法EXCEL試算表..........................50
附錄四 作者簡歷.................................................................................54

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