Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2907
標題: 自行車機器人平衡控制
A Study on the Balancing Control of Bicycle Robot
作者: 何庭宏
Ho, Ting-Hung
關鍵字: 自行車機器人;Bicycle Robot;NXT;陀螺儀;拉格朗日;PID;NXT;gyro sensor;Lagrange;PID
出版社: 機械工程學系所
引用: [1] 維基百科,自行車:http://zh.wikipedia.org/wiki/自行車, 2012. [2] Chih-Keng Chen and Thanh-Son Dao, "Fuzzy control for equilibrium and roll-angle tracking of an unmanned bicycle, "Multibody Systems Dynamics, Vol. 15, No.4, 2006, pp.325-350. [3] Yanbin Liu, Chenhui Jia and Jianhai Han, "Dynamics Modeling of an Unmanned Bicycle with Parallel Mechanism Adjusting Stability , "Proceedings ofthe 2009 IEEE International Conference on Mechatronics and Automation, Changchun, China, 2009, pp.1601-1605. [4] Yesid E. Castro C., Carlos H. Llanos, Walter de Britto Vidal Filho and Leandro dos Santos Coelho, "Fuzzy Control for Cyclist Robot Stability using FPGAs, "2009 International Conference on Reconfigurable Computing and FPGAs, Cancun, Quintana Roo, Mexico, 2009, pp.412-415. [5] Toshinobu Takei, Megumu Tsuruta, Junpei Okumura, Tatsuhiko Nakabayashi and Takashi Tsubouchi, "Stabilized Motion of a Small Sized Bike Robot only by Steering Control, "The 11th IEEE International Workshop on Advanced Motion Control, Nagaoka, Japan, 2010, pp.466-471. [6] Akira Okawa, Lychek Keo and Masaki Yamakita, "Realization of Acrobatic Turn via Wheelie for a Bicycle with a Balancer, " Proceedings of the 2009 IEEE International Conference on Robotics and Automation, Japan, 2009, pp.2965-2970. [7] Lei Guo, Qizheng Liao, Shimin Wei and Yonghua Huang, "Design of Linear Quadratic Optimal Controller for Bicycle Robot, "Proceedings of the IEEE International Conference on Automation and Logistics, China August, 2009, pp.1968-1972. [8] Lei Guo, Qizheng Liao, Shimin Wei and Yonghua Huang, "A Kind of Bicycle Robot Dynamic Modeling and Nonlinear Control, "Proceedings of the 2010 IEEE International Conference on Information and Automation, Harbin, China, 2010, pp.1613-1617. [9] Yonghua Huang, Qizheng Liao, Shimin Wei and Lei Guo, "Dynamic Modeling of a Bicycle Robot with Front-Wheel Drive Based on Kane’s Method, "Proceedings of the 2010 IEEE International Conference on Information and Automation, Harbin, China, 2010, pp.758-764. [10] Yonghua Huang, Qizheng Liao, Shimin Wei and Lei Guo, "Stable-Balancing Motion Analysis of a Bicycle Robot with Front-Wheel Drive Based on Moment Balance, " Proceedings of the 2010 International Conference on Intelligent Computation Technology and Automation, Washington, DC, USA, 2010, pp.367-371. [11] Yonghua Huang, Qizheng Liao, Shimin Wei and Lei Guo, "Dynamic Modeling and Analysis of a Front-Wheel Drive Bicycle Robot Moving on a Slope, "Proceedings of the 2010 IEEE International Conference on Automation and Logistics, Hong Kong and Macau, 2010, pp.43-48. [12] Yizhai Zhang and Jingang Yi, "Dynamic Modeling and Balance Control of Human/Bicycle Systems, " Proceedings of the 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, Canada, 2011, pp.1385-1390. [13] Xiuli Yu, Shimin Wei and Lei Guo, "Cascade Sliding Mode Control for Bicycle Robot, " Proceedings of the 2010 International Conference on Artificial Intelligence and Computational Intelligence, Washington, DC, USA 2010, pp.62-66. [14] Mei-Wen Fang, Yen-Ting Chen and Jui-Jen Chou, "Control of Autonomous Bicycle System with ZMP Tracking, " System Integration (SII), 2011 IEEE/SICE International Symposium on, Kyoto, 2011, pp.1368-1373 [15] Sorawuth Vatanashevanopakorn and Manukid ParnichkunSteering, "Steering Control based Balancing of a Bicycle Robot, "Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand, 2011, pp.2169-2174. [16] Xiuli Yu and Zhen LU, "Neural Network for Bicycle Robot System Identification, " 2011 International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE), Changchun, China, 2011, pp.392-395. [17] 村田製作所,村田頑童‧村田婉童:http://www.murata.com.cn/corporate/boy_girl/index.html, 2012. [18] A.I & Robot:http://ai2001.ifdef.jp/, 2012. [19] Franklu的發現之旅:http://www.wretch.cc/blog/franklu/11878639, 2012. [20] kickbile的鐵馬寶庫:http://mypaper.pchome.com.tw/kbterry/post/1312073558, 2012. [21] 西貿亞公司 , LEGO MINDSTORMS NXT硬體開發指南, 2006 [22] Michael Gasperi and Philippe “Philo” Hurbain , Extreme NXT extending the lego Mindstorms to the next level Second Edition, apress , United States, 2009, pp.47~52. [23] NXTR motor internals http://www.philohome.com/nxtmotor/nxtmotor.htm, 2012. [24] NXT Gyro Sensor http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044, 2012. [25] 張道弘, PID控制理論與實務, 全華科技圖書股份有限公司, 台北, 1995, pp.2~12.
摘要: 
本研究目的為控制一台自行車機器人在運行過程中能保持平衡,並能透過藍芽無線通訊來接收操作者指令進行直線、轉彎、停止等功能。
本機器人使用NXT的ARM7微控制器當核心,並採用陀螺儀感測器來測量角速度並計算出車身傾斜角度,藉由車身傾斜角度的變化來改變前輪轉軸角度來達成平衡。馬達則是採用直流伺服馬達。
本研究採用PID控制來達成車身平衡,並透過藍芽無線通訊接收操作者指令使車身保持小角度偏擺讓車子轉彎。程式採用LabVIEW撰寫,並透過MATLAB/Simulink模擬與實驗驗證可行性。

The purpose of this research is trying to develop a control algorithm to keep the bicycle robot in balance. While Bluetooth is used for commands transfer, such as start, stop, turning right side or left side.
In this robot, a NXT ARM7 micro-control unit is used. A gyro is used to detect the angular velocity change and calculate the angle for balancing control of the robot. This system is activated by DC servo motor.
In this research, a PID control is use to achieve balance of robot. Bluetooth can transmit the information of the controls to the NXT. LabVIEW is used to Write programs and MATLAB/SIMULINK is used to simulate. Finally, experiment is conduct to verify the result.
URI: http://hdl.handle.net/11455/2907
其他識別: U0005-2208201214012100
Appears in Collections:機械工程學系所

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