Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/7327
標題: 兩輪自平衡車之建模與控制
Modeling and Control of a Self-Balancing Two Wheeled Scooter
作者: 游宏偉
Yu, Hung-Wei
關鍵字: 兩輪自平衡車
scooter
出版社: 電機工程學系所
引用: [1] “http://www.segway.com/”. [2] T.Blackwell, “Building a Balancing Scooter ” http://www.tlb.org/scooter.htm1. [3] Yuji Hosoda, Saku Egawa, Junichi Tamamoto, Kenjiro Yamamoto, and Ryousuke Nakamura ,”Basic Design of Human-Symbiotic Robot EMIEW,” proceedings of the 2006 IEEE/RSJ International Conference on intelligent Robots and Systems,October9-15,2006,Beijing,China. http://www.hitachi.com [4] F. Grasser, A.D'Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” IEEE Transactions on Industrial Electronics, vol. 49, no. 1, pp.107-114, February 2002. [5] J.-S. Wang, “Walking control of a self-balancing two-wheeled robot,” M.S. Thesis, Department of Electrical Engineering, National Central University, June 2003. [6] K. J. Astrom and B. Wittenmark, Adaptive Control, 2nd Ed., Addison Wesley, 1995. [7] C.-Y. Cheng, Balancing control of a self-balancing two-wheeled robot, M.S. Thesis (in Chinese), Department of Electrical Engineering, National Central University, June 2003. [8] Y.-X. Lin, “Balancing Control and Implementation of a Riderless Bicycle,” M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2001. [9] http://www.ai.mit.edu/projects/cardea/index.shtml [10] H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall, 2002. [11] R. C. Dorf and R. H. Bishop, Modern Control Systems, 9th Ed, Hall, 2001. [12] http://www.geology.smu.edu/~dpa-www/robo/nbot/ [13] http://www.tedlarson.com/robots/balancingbot.htm [14] http://www.teamhassenplug.org/robots/legway/ [15] http://homepage.mac.com/sigfpe/Robotics/equibot.html [16] Y.-H. Gu, Design and Control of a Personal Self-balancing Two-wheel Scooter, M.S. Thesis (in Chinese), Department of Electrical Engineering, National Chung Hsing University, June 2005. [17] W.L Luo, Adaptive control of a two-wheeled self-balancing transporter, M.S. Thesis (in Chinese), Department of Electrical Engineering, National Chung Hsing University, June 2006. [18] James H. Williams, Jr. Fundamentals of Applied Dynamics. By John Wiley & Sons,Inc. 1996. [19] http://www.roboteq.com
摘要: 本論文旨在改善教學用途之自平衡兩輪電動車之系統設計、數學建模及適應控制。本文詳述該具有兩感測器的新型自平衡兩輪電動車,且重新嚴謹地推導該車輛之更詳細正確的數學模型。兩個古典比例微分與相位領先落後補償器被分別提出,進而產生合成的轉矩,驅動該車輛的兩直流馬達,用以達成自平衡與轉向控制之功能。該兩古典平衡轉向控制器可適用不同騎乘者以及不同地形,只需調整比例微分控制器的參數與相位領先落後補償器的增益值。在不調整參數旋鈕的條件下,兩適應調整器被提出達成該車輛之自平衡與轉向控制,且對不同騎乘者與不同地形產生幾乎一致的控制性能。經由許多實驗數據,本文所提的新型系統設計與控制策略,對不同的騎乘者與在不同地形下,皆具有優異實用的功效。
This thesis improves techniques for system design, modeling and adaptive control of a two-wheeled self-balancing scooter for pedagogical purposes. An improved self-balancing two-wheeled scooter with only two sensors is described and its more detailed and correct mathematical model of the scooter is rigorously re-derived. Two classical PD and lead-lag control laws are proposed for self-balancing and rotation control of the scooter, then generating composite torque for the two DC motors. Such controllers also perform well for different riders and different terrains by tuning the two knobs so as to directly alter the controllers' parameters, such as the proportional and derivative gains, and the lead-lag controller's gain. Without adjusting the two tuning knobs, two adaptive regulators are presented for the scooter ridden by different riders, thereby giving almost consistent control performance. Through experimental results, the proposed improved scooter together with the proposed control methods has been successfully shown powerful and useful for different riders.
URI: http://hdl.handle.net/11455/7327
其他識別: U0005-0208200721583900
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-0208200721583900
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