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Modeling and Control of a Self-Balancing Two Wheeled Scooter
|關鍵字:||兩輪自平衡車;scooter||出版社:||電機工程學系所||引用:|| “http://www.segway.com/”.  T.Blackwell, “Building a Balancing Scooter ” http://www.tlb.org/scooter.htm1.  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  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.  J.-S. Wang, “Walking control of a self-balancing two-wheeled robot,” M.S. Thesis, Department of Electrical Engineering, National Central University, June 2003.  K. J. Astrom and B. Wittenmark, Adaptive Control, 2nd Ed., Addison Wesley, 1995.  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.  Y.-X. Lin, “Balancing Control and Implementation of a Riderless Bicycle,” M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2001.  http://www.ai.mit.edu/projects/cardea/index.shtml  H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall, 2002.  R. C. Dorf and R. H. Bishop, Modern Control Systems, 9th Ed, Hall, 2001.  http://www.geology.smu.edu/~dpa-www/robo/nbot/  http://www.tedlarson.com/robots/balancingbot.htm  http://www.teamhassenplug.org/robots/legway/  http://homepage.mac.com/sigfpe/Robotics/equibot.html  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.  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.  James H. Williams, Jr. Fundamentals of Applied Dynamics. By John Wiley & Sons,Inc. 1996.  http://www.roboteq.com||摘要:||
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.
|Appears in Collections:||電機工程學系所|
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