腳踏動力自我平衡獨輪車之重心適應控制與打滑穩定器設計

Center of Gravity Adaptation and Anti-slip Control for a Pedaled Self-balanced Unicycle

黃浚鋒(Chun-Feng Huang)

指導教授 ： 葉廷仁

國立清華大學/工學院/動力機械工程學系/博士(2016年)

摘要

本學位論文針對一創新的腳踏動力自我平衡獨輪車進行動態、打滑現象分析，並提供相應的平衡控制策略。此獨輪車(Legway)裝載一顆直流無刷馬達做以實現自我平衡的機制，但同時保留了腳踩踏板作為主要的前進動力來源。在轉向與維持側向平衡方面，Legway的轉向機構使騎乘者能以龍頭操控Lwgway的轉向與維持側向平衡。為了使Legway自我平衡、轉向等功能得以實現並保證一定的行車安全性，本論文提出了三個議題並加以探討。首先，Legway在縱方向上的平衡採用一個具重心適應能力的平衡控制器。此控制器的設計採用線性矩陣不等式(LMI)。此控制器可自動將騎乘者與車身的重心旋轉至輪軸正上方，如此一來可大幅減小馬達力矩與腳踏力矩的衝突，使Legway可具有如傳統腳踏車般的騎乘方式。第二，為了實現Legway的轉向與側向平衡，描述Legway轉向與側向平衡的動態模型被建立並分析。此分析說明了Legway的轉彎特性並提供對關鍵系統參數的調整方向以改善轉彎性能。最後，為了確保Legway的行車安全，本論文提出一針對倒單擺車設計的防滑穩定器。此防滑穩定器可與平衡控制器協同運作：透過對平衡控制器提供適當的補償，平衡控制器在Legway打滑時仍維持正常運作，並確保整體系統的穩定。此研究的關鍵在於防滑穩定器須適應各種不同的路面情況。由於不同路面狀況有不同的磨擦係數函數，防滑穩定器須具備足夠的強健性以應對此非線性且時變之系統。因此，本研究提出此防滑穩定器的合成方法，可設計防滑穩定器的增益矩陣並分析整體系統在不同路面狀況下的穩定性。本論文中提出之設計與控制概念均已模擬或實驗驗證。此學位論文中的研究成果可促進智慧與綠能車輛的發展。

關鍵字

自我平衡獨輪車 ； 強健控制 ； 適應控制 ； 動態分析 ； 防滑控制 ； 線性矩陣不等式 ； 非自主系統

並列摘要

In this thesis, modeling, design, and control issues associated with a pedaled and self-balanced personal mobility vehicle are studied. The vehicle, named Legway, is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. The lateral balance and steering of the vehicle is controlled manually by the rider via a passive steering mechanism including a handle, a rotational joint, cables, pulleys, and so on. In order to balance, to steer, and to safely drive Legway on slippery road, three research issues are studied. First of all, to longitudinally balance Legway, a balancing controller with center of gravity (COG) adaptation capability is proposed, and the associated control synthesis method utilizing linear matrix inequality (LMI) is developed. Using this controller, Legway can automatically place COG of the rider plus the vehicle frame right above wheel axle so as to minimize the interference between the balancing motor torque and the rider’s pedaling torque. Secondly, to maintain lateral balance and steer Legway, the dynamics of the passive steering mechanism of Legway is modeled. Simulations on the dynamic model allow one to select crucial design parameters to enhance steering performance. Finally, to drive Legway safely on slippery road, an anti-slip compensator is proposed to cooperate with the balancing controller. Such a compensator provides appropriate compensating action to the balancing controller so that it can maintain its stability in the presence of tire slip. A synthesis method is proposed to design the gain matrix in the compensator and to analyze the stability of the overall system. The design and control concepts presented are verified by simulations or experiments. The work of the thesis can greatly facilitate the development of intelligent and green personal mobility vehicles.

並列關鍵字

Self-balancing unicycle ； Robust control ； Adaptive control ； Dynamics analysis ； Anti-slip control ； Linear matrix inequality ； Non-autonomous system

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