應用姿態控制器和橫向速率控制器於智能腳踏車之平衡控制

BALANCE CONTROL OF AN ELECTRICAL BICYCLE BY POSTURE CONTROLLER AND LATERAL VELOCITY CONTROLLER

蕭雲峰(Yun-Feng Hsiao)

指導教授 ： 游文雄

大同大學/電機資訊學院/電機工程學系所/碩士(2011年)

摘要

在本篇論文裡, 我們針對一台無人駕駛智能腳踏車(e-bicycle) 提出兩個方法來穩定腳踏車車體的平衡和直線軌跡追蹤: 一個是姿態控制器, 另一種是橫向速度控制器。前者確定保持腳踏車車體的平衡, 而後者則是針對直線軌跡的追蹤作控制。一般而言, 當人騎乘一台腳踏車時, 通常以腳踩踏板作為行進動力, 以手臂控制龍頭轉向方向, 以及身體改變重心位置等, 做為駕駛一台腳踏車的控制方式。為了實現這個目標, 我們改裝了腳踏車。
為了保持車體的前進動力在後輪上安裝了無刷馬達, 在把手處安裝了一個四連桿以控制龍頭的轉動方向, 並在座墊上安裝一伺服馬達來提供四連桿轉動所需的力矩。此外, 安裝在腳踏車重心的陀螺儀可以提供相應的傾斜角度和角速度。最後, 本論文將經由動畫模擬來顯示所提出的控制方法的有效性。

關鍵字

平衡 ； 腳踏車

並列摘要

In this thesis, we propose two strategies to stabilize bicycle balance and trajectory control on an unmanned electrical bicycle (e-bicycle): one is a posture controller, and the other is a lateral velocity controller. The former is used to stabilize the bicycle, the other is controlled on straight-line tracking. In order to achieve this objective, we modified the bicycle. An in-wheel brushless motor is installed in the rear wheel for going-forward control and a servomotor is on the saddle seat post steers for handlebar grip control via a planar four-bar linkage. The motion of the ebicycle has three degrees of freedom, one is rotating about the perpendicular through the ground plane, the other two are shiftable on the ground plane. In addition, a gyroscope is at the center of mass of the e-bicycle could provide the lean angle and the corresponding angular velocity, where this motion is regarded as an uncertain underactuated system. Finally, some animation simulations are given to show the effectiveness of the proposed control scheme.

並列關鍵字

BALANCE ； BICYCLE

參考文獻

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