Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6080
標題: 個人式自平衡運輸車之設計與適應控制
Design and Adaptive Control of a Personal Self-Balancing Two-Wheeled Transporter
作者: 羅文隆
Luo, Wen-Lung
關鍵字: adaptive control;適應控制;digital signal processing;gyroscope;inverted pendulum;radial basis function;自平衡系統;類神經徑向網路;陀螺儀;數位訊號處理
出版社: 電機工程學系所
引用: References [1] http://www.segway.com/ [2] T. Blackwell, ”Building a Balancing Scooter ” http://www.tlb.org/scooter.html [3] 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. [4] F. Grasser, A.D'Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” Proceedings of the IASTED International Conference on Modelling, Identification and Control, Innsbruck, Austria February 19- 22, 2001. [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] 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. [7] J.-S. Hu and M.-C. Tsai, “Robust Control of Auto-balancing Two-wheeled Cart”, Proceedings of CACS Automatic Control Conference, November18-19, 2005. [8] http://www.ai.mit.edu/projects/cardea/index.shtml [9] 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. [10] J. Benge et al., “Constructing a Balancing Vehicle,” HTV Technology Group, March, 2004. [11] D.-C. Cheng, “Adaptive Motion and Inverted Pendulum Control with RBF Neural Network for a Linear DC Brushless Motor,” M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2005. [12] Y.-X. Lin, “Balancing Control and Implementation of a Riderless Bicycle,” M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2001. [13] K. J. Astrom and B. Wittenmark, Adaptive Control, 2nd Ed., Addison Wesley, 1995. [14] H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall, 2002. [15] R. C. Dorf and R. H. Bishop, Modern Control Systems, 9th Ed, Hall, 2001. [16] http://www.geology.smu.edu/~dpa-www/robo/nbot/ [17] http://www.tedlarson.com/robots/balancingbot.htm [18] http://www.teamhassenplug.org/robots/legway/ [19] http://homepage.mac.com/sigfpe/Robotics/equibot.html
摘要: 
本論文旨在發展一台由兩個直流馬達所驅動的自平衡兩輪電動車,包含系統設計、數學模型分析與控制技術的開發,主要設計目標在製作一台使用低成本工業元件所建構之低價且人性化的運輸工具。本文不僅建立車體的數學模型,並以類神經徑向網路(RBF)方法學習摩擦力以補償車輪與移動面間的摩擦。藉由解耦技術的運用,將整體系統分成兩個子系統:轉向控制子系統及類倒單擺平衡控制子系統。控制方面,本文設計狀態適應控制法則與適應類神經控制法則達成自平衡控制與轉向控制。電腦模擬及實驗結果證實本文所建立的控制器有能力提供適當的控制動作,使得車體依照駕駛者的需求動作。

This thesis develops techniques for system design, modeling and adaptive control of a personal two-wheeled transporter driven by two DC motors. The design attempts to construct a low-cost human transporter using common-tech commercial components. A mechatronic system structure for the vehicle is described and its mathematical modeling incorporating the fiction between the wheels and motion surface is derived. The radial basis function (RBF) neural network is proposed to approximation the friction force. By decomposing the system into two subsystems: the rotation subsystem and inverted pendulum subsystem, we design adaptive control laws and adaptive neural network control laws with state feedback to maintain the inverted pendulum and to achieve the rotation control. Simulation results and experimental results reveal that the proposed controllers are capable of providing appropriate control actions to steer the transporter in desired manners.
URI: http://hdl.handle.net/11455/6080
其他識別: U0005-0208200601021400
Appears in Collections:電機工程學系所

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