Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/7924
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dc.contributor.advisor蔡清池zh_TW
dc.contributor.author李怡德zh_TW
dc.date2004zh_TW
dc.date.accessioned2014-06-06T06:40:44Z-
dc.date.available2014-06-06T06:40:44Z-
dc.identifier.urihttp://hdl.handle.net/11455/7924-
dc.description.abstract本論文的目的是在發展無人自行車之非線性平衡控制器,用以平衡所建立的無人自行車。所建造的無人自行車系統包含前輪定位控制子系統,後輪速度控制子系統與工業電腦平衡控制子系統;其中前輪定位控制和後輪速度控制皆由同一顆DSP控制器搭配PI控制法則來完成,工業電腦平衡控制子系統則是利用C語言實現所設計的非線性平衡控制器,運算出所需要的前輪轉向角度命令與後輪轉速命令,分別送給前輪定位控制子系統及後輪速度控制子系統。本文分別利用輸出入迴授線性化,適應輸出入迴授線性化,倒逆步,適應倒逆步技巧設計四種非線性平衡控制器。Matlab/Simulink模擬結果被用以說明所設計的四個法則的可行性及有效性,實驗結果驗證所設計的四種控制器皆有能力將無人腳踏車的傾斜角逼近於零。zh_TW
dc.description.abstractThis thesis develops four nonlinear control algorithms to balance the constructed riderless bicycle. The constructed riderless bicycle control system is composed of a steering control subsystem, a rear wheel speed control subsystem, and an IPC balancing control subsystem; both the steering and rear wheel speed controllers are implemented in a single chip DSP controller with PI control algorithms. The IPC balancing control subsystem implements these nonlinear control algorithms in C language and issues the desired steering angle command and desired rear wheel velocity commands to steering control subsystem and rear wheel speed control subsystem respectively. Four nonlinear balancing control laws based on dynamic model are presented in this thesis using the input-output feedback linearization technique, adaptive input-output feedback linearization technique, backstepping technique, and adaptive backstepping technique respectively. The feasibility and effectiveness of these four control laws are shown in Matlab/Simulink. Through experimental results, the proposed control laws have been shown to be capable in regulating the tilt angle of the riderless bicycle to zero.en_US
dc.description.tableofcontentsContents Chinese Abstract i English Abstract ii Acknowledgements iii Contents vi List of Figures viii List of Tables xiii Chapter 1 Introduction 1 1.1 Introduction 1 1.2 Survey of Related Research 3 1.3 Contributions of the Thesis 5 1.4 Organization of the Thesis 7 Chapter 2 Description of the Riderless Bicycle Control System 8 2.1 Description of the Riderless Bicycle Control System 8 2.1.1 Introduction 8 2.2 Physical Configuration of the Riderless Bicycle 9 2.3 Components of the Riderless bicycle 11 2.3.1 IPC-industrial Personal Computer 11 2.3.2 AD-DA card “PCI-1800L” 13 2.3.3 DSP TMS320F240 14 2.3.4 Power Supply 15 2.3.5 Tilt Sensor 16 2.3.6 Potentiometer 17 2.3.7 Rotary Encoder 18 2.3.8 Wireless controller 19 2.3.9 Experimental Results and Discussion 19 2.4 Mathematical Modeling 23 2.4.1 Introduction 23 2.4.2 Kinematics Model of the bicycle 23 2.4.3 Dynamics Model of the Bicycle 26 2.5 Concluding Remarks 29 Chapter 3 Adaptive Input-Output Feedback Linearization 30 3.1 Introduction 30 3.2 Input-Output Feedback Linearization 31 3.2.1 Computer Simulations and Discussion 32 3.2.2 Experimental Results and Discussion 37 3.3 Adaptive Input-Output Feedback Linearization 38 3.3.1 Computer Simulations and Discussion 41 3.3.2 Experimental Results and Discussion 49 3.4 Concluding Remarks 50 Chapter 4 Adaptive Backstepping Control 51 4.1 Introduction 51 4.2 Backstepping Control Design 52 4.2.1 Computer Simulations and Discussion 56 4.2.2 Experimental Results and Discussion 58 4.3 Adaptive Backstepping Control 59 4.3.1 Computer Simulations and Discussion 63 4.3.2 Experimental Results and Discussion 68 4.4 Concluding Remarks 70 Chapter 5 Summaries and Recommendations 71 5.1 Summaries 71 5.2 Recommendations 72 References 74 List of Figures Figure 1.1 The first bicycle draft devised by Des Vinci 2 Figure 2.1 Schematic diagram of the riderless bicycle 9 Figure 2.2 Block diagram of the riderless bicycle system 9 Figure 2.3 Physical view of the IPC controller 12 Figure 2.4 A picture of the AD-DA card 13 Figure 2.5 The DC-DC converter ACE-890C 15 Figure 2.6 The Tilt Sensor 15 Figure 2.7 Physical configuration of the potentiometer 17 Figure 2.8 Equivalent circuit of the potentiometer 17 Figure 2.9 Cutaway view of the encoder 18 Figure 2.10 Physical view of the wireless remote control module 19 Figure 2.11 The response of the tilt sensor in vibrated motion 21 Figure 2.12 The response of the tilt sensor in fast motion 21 Figure 2.13 The response of the tilt sensor in smooth motion 21 Figure 2.14 The actual step tracking response of the steering controller 22 Figure 2.15 The actual step tracking response of the steering controller 22 Figure 2.16 The actual step tracking response of the rear wheel speed controller 22 Figure 2.17 Geometric view of the full Bicycle 24 Figure 2.18 Geometric view for the forward speed and time derivative of 25 Figure 2.19 Dynamic view of the bicycle 27 Figure 3.1 The simulation block diagram of input-output feedback linearization control 33 Figure 3.2 The simulated response of implicit control u 35 Figure 3.3 The simulated response of the lean angle and its rate 35 Figure 3.4 The simulated response of the steering angle 36 Figure 3.5 The simulated response of the rear wheel speed 36 Figure 3.6 The simulated response of the bicycle's trajectory 37 Figure 3.7(a) Response of the tilt angle 38 Figure 3.7(b) Response of the implicit control u 38 Figure 3.7(c) Response of the steering angle 38 Figure 3.7(d) Response of the rear wheel speed 38 Figure 3.8 The simulation block diagram of adaptive input-output feedback linearization control 42 Figure 3.9 The simulation block diagram of the sub-system in Figure 3.7 43 Figure 3.10 The simulated response of the steering angle 43 Figure 3.11 The simulated response of the lean angle and its rate 44 Figure 3.12 The simulated response of the steering angle 44 Figure 3.13 The simulated response of the rear wheel speed 45 Figure 3.14 The simulated response of the estimated parameter 45 Figure 3.15 The simulated response of the estimated parameter 46 Figure 3.16 The simulated response of the bicycle's trajectory 46 Figure 3.17 A enlarged view in a segment of the trajectory 47 Figure 3.18(a) Response of the tilt angle 48 Figure 3.18(b) Response of the implicit control u 48 Figure 3.18(c) Response of the steering angle 48 Figure 3.18(d) Response of the rear wheel speed 48 Figure 3.18(e) Response of the estimated parameter 48 Figure 3.18(f) Response of the estimated parameter 48 Figure 3.19 A glimpse during the experiment of this chapter 49 Figure 4.1 The simulation block diagram of the proposed backstepping controller 55 Figure 4.2 The simulated response of implicit control u 55 Figure 4.3 The simulated response of the lean angle and its rate 56 Figure 4.4 The simulated response of the steering angle 57 Figure 4.5 The simulated response of the rear wheel speed 57 Figure 4.6 The simulated x-y trajectory of the bicycle 58 Figure 4.7(a) Response of tilt angle 59 Figure 4.7(b) Response of the implicit control u 59 Figure 4.7(c) Response of the steering angle 59 Figure 4.7(d) Response of the rear wheel speed 59 Figure 4.8 The simulation block diagram of the proposed adaptive backstepping controller 64 Figure 4.9 The simulated response of implicit control u 64 Figure 4.10 The simulated response of the lean angle and its rate 65 Figure 4.11 The simulated response of the steering angle 65 Figure 4.12 The simulated response of the rear wheel speed 66 Figure 4.13 The simulated x-y trajectory of the bicycle 66 Figure 4.14 The detailed trajectory of the bicycle 67 Figure 4.15 Time history of the estimate 67 Figure 4.16 Time history of the estimate 68 Figure 4.17(a) Response of the tilt angle 69 Figure 4.17(b) Response of the implicit control u 69 Figure 4.17(c) Response of the steering angle 69 Figure 4.17(d) Response of the rear wheel speed 69 Figure 4.17(e) Response of the estimated parameter 69 Figure 4.17(f) Response of the estimated parameter 69 Figure 4.18 A glimpse during the experiment of this chapter 70 List of Tables Table 2.1 Specification of the tilt sensor 16zh_TW
dc.language.isoen_USzh_TW
dc.publisher電機工程學系zh_TW
dc.subjectnonlinear controlen_US
dc.subject非線性控制zh_TW
dc.subjectadaptive controlen_US
dc.subjectriderless bicycleen_US
dc.subject適應控制zh_TW
dc.subject無人自行車zh_TW
dc.title無人自行車之非線性平衡控制與實現zh_TW
dc.titleNonlinear Steering Control of a Riderless Bicycleen_US
dc.typeThesis and Dissertationzh_TW
item.grantfulltextnone-
item.openairetypeThesis and Dissertation-
item.cerifentitytypePublications-
item.fulltextno fulltext-
item.languageiso639-1en_US-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
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