Nhm 9:

Nguyn V Hun 41001188

Ch Cng Thnh 41002974
Nguyn Vn Thnh 41003008
Nguyn Vn I 41000126
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1. Introduction:
-Xe ln l g? i tng s dng ?
-Hn ch ca xe ln bn bnh thng
thng ?

=> tng thit k xe ln 2 bnh


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1. Introduction:
Schematic diagram of wheelchair with
three under actuated joints


,

lc ko bnh tri
bnh phi.


2
lc nng gia Link1
& Link2.


1

,
2
gc lch ca Link1 &
Link2 so vi phng thng
ng

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2. Fuzzy logic control
a. Fuzzification: Chuyn gi tr r phn hi t ng ra ca i tng thnh gi tr m
quy tc suy lun c
b. Rule-base: H quy tc iu khin rt ra t kinh nghim chuyn gia trong vic k
i tng
c. Inference Mechanism: Phng php suy din
d. Defuzzification: Chuyn gi tr m suy lun c ng ra ca h quy
tc thnh gi tr r iu khin c
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2. Fuzzy logic control
+ Hai bnh xe ln c thit k bao gm 2 h thng: Nng (Lifting) v n nh
(Stabilizing) 2 bnh tng t nh con lc ngc. Do ta dng MIMO FLC.
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3. Modular Fuzzy Control
+ Vi h thng phc tp ta chia nh h thng thnh nhng Module:
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3. Modular Fuzzy Control
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4. MFC for two-wheeled
a. Different input configurations of modular fuzzy logic controller
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4. MFC for two-wheeled
a. Different input configurations of modular fuzzy logic controller
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4. MFC for two-wheeled
b. Simulation based performance analysis:
H thng gm 3 b iu khin chnh:
Lifting and Stabilizing Control: Nng v n nh
Linear Motion Control (Forward or Backward): Di chuyn
Steering Motion Control: Li
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4. MFC for two-wheeled
- Block diagram of two-wheeled
wheelchair system motion
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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
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B iu khin gm 2 ng vo v 2
ng ra :
Ng vo:
+ position error: e
+ the change of position error :e
Ng ra :
+

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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
Fuzzy rules for linear motion
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M phng qu trnh dch chuyn v pha trc 1.5 m
trong thi gian 30s
4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
1. FLC for linear motion:
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4. MFC for two-wheeled
2. FLC for steering motion:
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4. MFC for two-wheeled
2. FLC for steering motion:
B iu khin gm 2 ng vo v 2 ng
ra :
Ng vo:
+ rotation error: e
+ the change of position error :e
Ng ra :
+

,

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4. MFC for two-wheeled
2. FLC for steering motion:
Fuzzy rules for steering
motion
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4. MFC for two-wheeled
2. FLC for steering motion:
Simulation steering to 30
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4. MFC for two-wheeled
2. FLC for steering motion:
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4. MFC for two-wheeled
2. FLC for steering motion:
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4. MFC for two-wheeled
2. FLC for steering motion:
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4. MFC for two-wheeled
2. FLC for steering motion:
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4. MFC for two-wheeled
2. FLC for steering motion:
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5. Conclusion :
Fuzzy logic l mt trong nhng phng php iu khin gn gi vi con
ngi. Ta c th d dng hiu v thc hin c bng fuzzy logic trong
khi khng th xc nh c bng cc b iu khin c in thng
thng
Phng php ny c thc hin thnh cng trong h thng xe ln
twowheeled bng mt m-un iu khin m (MFC) c pht trin v
thc hin kim sot nng v n nh, tuyn tnh v thc hin chuyn
ng c kim sot
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