一種電動獨輪車之開發及其動力分析

Development of an Electric Unicycle and Its Dynamic Analysis

張志鋒(Chi-Feng Chang) ； 張宗皓(Jhong-Hao Chang)

《高雄應用科技大學工程科技學刊》 1卷1期 (2015/06) Pp. 1-12

https://doi.org/10.6553/JKTUET.2015.0101.01

摘要

本研究開發了一臺重量輕且易於携帶之電動獨輪車，由於此車具有多個自由度但只有一個致動器，所以它是一個欠驅動系統，也因此理論上非常難以操控。不過，在根據剛體動力學之尤拉方程式以分析獨輪車在其平衡位置鄰域的運動時，發現獨輪車在其縱切面上之運動不會影響車子在其他兩個正交面上的運動，故根據此一特性提出電動獨輪車的平衡策略和操控方法。隨後，將車和騎士簡化為一個僅具兩支桿件的平面模型，再指定車子應遵循之速度曲線來進行動力模擬，由模擬結果可求得驅動馬達應施加於車輪之功率，同時也驗證了前述平衡策略的正確性。最後，則實作一臺原型車進行測試，結果顯示多數之騎士皆可在一小時以內學會如何使獨輪車穩定地行駛。

關鍵字

電動獨輪車 ； 動力分析 ； 動態平衡

並列摘要

This study develops an electric unicycle, that is light and easy to carry. The unicycle itself is an underactuatd system and it is very difficult to steer theoretically because it has several degrees of freedom but has only one actuator. However, when analyzing the motion of the car in the vicinity of the equilibrium position by using the Euler’s equation of rigid body dynamics, it is found out that the car’s motion on sagittal plane can be decoupled from the other two orthogonal planes. Accordingly, the methods for steering and balancing the unicycle are proposed. Then, the system of the unicycle and its rider is simplified as a planar two-link model, and the power needed for driving the wheel to track the desired speed curves can be determined by the dynamic simulation of the model. Besides, the validity of the balacing method is also verified by the simulation. Finally, a propotype of the electric unicycle is built for testing, and most of the riders can learn to drive it stably in an hour.

並列關鍵字

electric unicycle ； dynamic analysis ； dynamic balance