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Title:
IZVEDBA MEHKEGA REGULATORJA HITROSTI MOBILNEGA ROBOTA S POLJEM PROGRAMIRLJIVIH LOGIČNIH VRAT
Authors:
ID
Otič, Jernej
(
Author
)
ID
Jezernik, Karel
(
Mentor
)
More about this mentor...
ID
Gotlih, Karel
(
Comentor
)
Files:
UNI_Otic_Jernej_2011.pdf
(2,04 MB)
MD5: F98C0357F86ED253999EAB8B5A9FFBD7
PID:
20.500.12556/dkum/e49caa14-4931-42dd-81ae-c80d7060b394
Language:
Slovenian
Work type:
Undergraduate thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
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.
Keywords:
programirljiva logična vezja
,
mehka logika
,
mobilni robot
,
regulacija
Place of publishing:
Maribor
Publisher:
[J. Otič]
Year of publishing:
2010
PID:
20.500.12556/DKUM-16485
UDC:
681.5(043.2)
COBISS.SI-ID:
14967830
NUK URN:
URN:SI:UM:DK:H1DFM45I
Publication date in DKUM:
09.03.2011
Views:
2152
Downloads:
130
Metadata:
Categories:
KTFMB - FERI
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Secondary language
Language:
English
Title:
REALIZATION OF THE FUZZY LOGIC CONTROLLER FOR THE MOBILE ROBOT BY USING FPGA
Abstract:
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.
Keywords:
Fields Programmable Gate Array
,
fuzzy logic
,
mobile robot
,
control
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