自動平衡同軸雙輪車之人機相互作用研究

Interaction between Self-Balanced Dicycle and Rider

謝慈馨(Hsieh, Tzushin)

指導教授 ： 蕭德瑛

國立清華大學/工學院/動力機械工程學系/碩士(2011年)

https://doi.org/10.6843/NTHU.2011.00422

摘要

自動平衡單軸雙輪車利用動態平衡原理，透過平衡控制器，以馬達提供騎士騎乘單軸雙輪車的平衡力矩。騎士與平衡控制器構成雙向互動的系統，在平衡控制器嘗試平衡車體的過程中，騎士自身動態會干擾控制器的反應，當兩者互相影響將造成車體晃動角度漸增，最終翻覆。本研究欲觀察騎士與車體互相影響運動狀態的特性，並推導出騎士與車體整體運動狀態的數學模型。
本研究考量騎士與自度平衡車之互動影響因素，參考量測人體反應之實驗方法及模擬車體運動，依結果設計並架設單軸雙輪車實驗平台，令受測者騎乘，測量騎士與車體於平衡過程中的運動狀態。實驗中之雙軸單輪車由賽格威、曲柄腳踏板與坐墊、把手組裝而成，曲柄軸心、坐墊、把手位置皆可調整，以適應不同受測者之重心位置。受測者將騎乘單軸雙輪車於平坦路面與設有減速墊之路面，進行前進、後退與急停之實驗。由整合之陀螺儀與加速度計晶片測量並記錄整體運動過程之晃動範圍與頻率，最後分析騎士的反應對整體系統與平衡控制器設計的影響。

關鍵字

人機互動 ； 動態穩定 ； 個人載具 ； 人機系統模型 ； 自動平衡 ； 人體平衡

並列摘要

Dicycle is a two-wheeled unicycle with two wheels axially aligned. The effect of interaction between a self-balanced dicycle and a rider has been investigated experimentally by measurements of state of motion. Dicycle can be seen as an inverted pendulum, which is an unstable system. The controller of the self-balanced dicycle and the rider control the balance of dicycle simultaneously. The controller controls the motor to afford torque, which keeps balance of the rider-dicycle system by moving dicycle forward and backward. At the same time, the state of stabilization changes when rider changes its posture or applies force on dicycle. The interaction between rider and controller can cause resonance of human-machine combined system. A method to investigate the resonance frequency under human operation is present. The resonance frequency is estimated from a mathematical modal combining rider and inverted pendulum.
The dicycle is composed of seat, handlebars, and pedals installing on a Segway. The position of seat, handlebars, and pedals can be adjusted to suit different center of gravities of riders in order to keep controllability of Segway. Subjects rode under different conditions, which is riding forward and backward on level ground, crossing speed bump, and stopping abruptly after accelerating. The state of motion is measured through combined gyro sensor and accelerometer. A discussion of the design property of the self-balancing controller is made according to the reaction of riders.

並列關鍵字

human-machine interaction ； dynamic stabilization ； personal transporter ； modeling human-macnine system ； self-balancing ； human balance

參考文獻

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