兩輪倒單擺系統的平衡與軌跡追蹤控制

Balancing and Trajectory Tracking Control of Two-Wheeled Inverted Pendulum Systems

葉儒昌(Ru-Chang Ye)

指導教授 ： 林容杉

國立暨南國際大學/科技學院/電機工程學系/碩士(2009年)

https://doi.org/10.6837/NCNU.2009.00100

摘要

近十年來，兩輪倒單擺系統或者稱作平衡機器人，在學術和工業上獲得廣泛的研究。在本論文中，將對兩輪倒單擺系統的平衡與軌跡追蹤控制進行設計，並且介紹與研究DC馬達的驅動，接著運用非線性與適應性遞迴步階控制設計方法來控制兩輪倒單擺系統，至於兩輪倒單擺的主要控制目的，不僅要維持單擺的直立而且讓車體追蹤討論的參考路徑。
為了瞭解和分析兩輪倒單擺之特性，線性化模型將被優先討論及研究。接下來，根據線性系統上設計得到的概念去設計非線性遞迴步階控制器，非線性遞迴步階控制器將有能力達到我們所要求的控制目標。非線性遞迴步階設計方法可以穩定不穩定的平衡點並且去除一般文獻所述之切換其他控制器動作。另外，使用適應性遞迴步階設計方法可以克服未知的干擾，並且能夠完成兩輪倒單擺系統的平衡與軌跡追蹤控制。最後，使用所建議的控制器於兩輪倒單擺系統上，將有出色的效能表現，並且使用一些模擬達到驗證的效果。

關鍵字

兩輪倒單擺系統 ； 非線性系統 ； 遞迴步階設計 ； 適應性遞迴步階設計

並列摘要

The research on two-wheeled inverted pendulum or commonly called balancing robot has gained tremendous momentum over the last decades at academic, industrial and hobby levels around the world. In this thesis, the design of balancing and trajectory tracking control of a two-wheeled inverted pendulum with the DC motor drives is introduced and investigated. The nonlinear and adaptive controllers based on backstepping design schemes are developed for the manipulation of two-wheeled inverted pendulum systems. The main control objective is not only to maintain the pendulum at the upright position, but also to track the desired reference path. In order to analyze and realize the system properties of the two-wheeled inverted pendulum system, in the beginning, the linearized system model is studied and investigated. Furthermore, according to the information obtained from the design of the linearized system, the nonlinear backstepping controllers can be successfully developed to achieve our control objectives for the original system. The proposed backstepping controllers have the potentials to stabilize the system around the unstable equilibrium point without switching to other controllers. In addition, an adaptive backstepping design scheme is developed and proposed to cope with the unknown disturbance for both balancing and trajectory tracking control of a two-wheeled inverted pendulum system. Finally, some simulation results are given to illustrate the excellent performance of the proposed controllers applied to a two-wheeled inverted pendulum system.

並列關鍵字

Two-Wheeled Inverted Pendulum ； Nonlinear System ； Backstepping Design ； Adaptive Backstepping Design

參考文獻

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