二輪自走車機構之運動學分析

Kinematic Analysis of a Mobile Cart

陳建中(Chien-Chung Chen)

指導教授 ： 丁鏞

中原大學/工學院/機械工程研究所/碩士(2006年)

https://doi.org/10.6840/cycu200600142

摘要

本文主要在研究二輪自走車機構與控制系統的設計，當二輪自走車向前或向後產生一角度上的改變時，藉陀螺儀來檢知角度上的變化，達到回饋控制的目的。以模糊控制理論結合MATLAB/SIMULINK軟體來探討車輪系統平衡的控制問題，另亦利用Recurdyn類比軟體工具結合MATLAB軟體，以提供有效的分析及動畫效果，來驗証車輪之運行狀況及穩定性。

關鍵字

陀螺儀 ； 二輪自走車

並列摘要

Mechanism and control system design for two-wheels self-balancing transporter is studied in this article. While two-wheels self-balancing transporter moves forward or backward with a change of angle, the employed gyroscope immediately detects the anglular change for feedback control purpose. Fuzzy control method associated with the MATLAB/SIMULINK is used to balance the wheel system. Recurdyn simulation software is also in coorporated with MATLAB to provide effective analysis and animation instrumental to verify the movement and stability performance of the wheel system.

並列關鍵字

Recurdyn ； gyroscope ； two-wheels self-balancing transporter ； Simulink ； Matlab

參考文獻

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