20.500.12556/DKUM-16485 IZVEDBA MEHKEGA REGULATORJA HITROSTI MOBILNEGA ROBOTA S POLJEM PROGRAMIRLJIVIH LOGIČNIH VRAT REALIZATION OF THE FUZZY LOGIC CONTROLLER FOR THE MOBILE ROBOT BY USING FPGA Delo obravnava problem izvedbe mehke regulacije hitrosti enosmernega motorja s poljem programljivih logičnih vrat. Za atraktivnejšo in realnejšo predstavitev smo regulacijo vgradili in preizkusili na mobilnem robotu z enosmernimi motorji na pogonskem sklopu. Delo sestavljajo trije sklopi. V prvem sklopu so podane osnove teorije mehke logike. Drug sklop podaja opis simulacij, s katerimi smo na matematičnem modelu mobilnega robota razvili in preskusili mehki regulator hitrosti. Tretji sklop opisuje izvedbo mehkega regulatorja na polju programirljivih logičnih vrat (FPGA). Za programiranje vezij FPGA smo uporabili programski paket Xilinx ISE WebPACK. Simulacijo smo izvedli s pomočjo programskega paketa MATLAB/Simulink. In this work the realization of fuzzy control of DC motor is considered for the case, when Fields Programmable Gate Array is used as a platform. For more attractive and more real demonstration of the controller's efficiently we have built a mobile robot with DC motors and then tested the controller's efficiency on that robot. The diploma thesis consists of three parts. In the first part theoretical background of fuzzy logic theory is given. In second part simulations, which were used for design and testing of fuzzy velocity controller, are described. Third part of the work presents details concerning the realization of the fuzzy logic controller in the Fields Programmable Gate Array (FPGA). For programming of the FPGA circuits the program packet Xilinx ISE Web PACK was used. The simulation was realized in the program packet MATLAB/Simulink. programirljiva logična vezja mehka logika mobilni robot regulacija Fields Programmable Gate Array fuzzy logic mobile robot control true true false [J. Otič] Slovenski jezik Angleški jezik Diplomsko delo 2010-10-21 14:50:50 2011-03-09 07:12:19 2022-04-13 08:12:27 2023-12-20 03:35:55 2010 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5(043.2) 14967830 URN:SI:UM:DK:H1DFM45I UNI_Otic_Jernej_2011.pdf UNI_Otic_Jernej_2011.pdf 1 F98C0357F86ED253999EAB8B5A9FFBD7 cbc90c3014e7476d85888d2dda08b0e754e60a629752874a257af8e4b5666f9d 682dc372-7c04-11eb-bb7a-00155d0001ca 20.500.12556/dkum/e49caa14-4931-42dd-81ae-c80d7060b394 https://dk.um.si/Dokument.php?lang=slv&id=20636 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0