臺灣博碩士論文加值系統

兩輪平衡機器人類似倒單擺系統，它的不穩定的特點，是控制人員研究控制理論相當好的例子。為了驗證兩輪平衡機器人可以平衡，我們可以使用PID、極點安置法、LQR、Fuzzy等。
本論文序述了兩輪平衡機器人的數學模型，並於MATLAB中使用極點安置法來模擬系統，及著眼於設計機器人和它的工作原理，並使用此機器人，驗證本研究的控制理論，並有結論和一些對未來的建議。

Vertical two-wheeled robot is a kind of balance robot based on the inverted pendulum. The kind of this robot has been developed in a lot of robotic laboratories. It’s unstable characteristics is a good example to verify the control theory for an engineer. To verify that the vertical two-wheeled robot can be balanced we can use a closed-loop controller method such as the proportional – integral – derivative method (PID) or the linear quadratic regulator (LQR), and pole placement.
This Master thesis starts by presenting a background of a vertical two-wheeled robot. It continues by expressing related work in this area. Then this thesis describes the mathematical model of a vertical two-wheeled robot based on the inverted pendulum system. This thesis uses Matlab to simulate the system with pole placement method. We also focus on the construction of this kind of robot and its working theory. Then we design some experiment to verify the results of this research. Finally this thesis finishes with a general conclusion and some suggestion for future work.

Abstract i
Acknowledgment ii
Contents iii
List of Figures iv
Nomenclature v
1. Background 1
1.1 Introduction 1
1.2 Literature review 2
1.3 Purposes of the research 7
2. Research method 8
2.1 Dynamic model for the vertical two-wheeled robot 8
2.2 Control method 18
A. Low pass filter 21
B. Average method 25
C. Low pass filter and average method using together 27
2.3 Instruments 28
3. Research process 33
3.1 Construction of the vertical two-wheeled robot 33
3.2 The real model 34
4. Results and Discussion 35
4.1 Flowchart for the controller 35
4.2 Simulation results 35
5. Conclusion and suggestion for future works 38
References 39
Appendix 41
Labview program 41
AC Servo FPGA program 41
Quadrature Encoder 9411 42
Simulation Code 42

[1] Segway.com
[2] Teamhassenplug.org/robots/legway
[3] Thetartan.org/Ballbot
[4] http://www.geology.smu.edu/~dpa-www/robo/nbot/bal2.txt
[5] Labview for everyone – Jeffrey Travis
[6] Labview Graphical Programming- Gary W.Johnson and Richard Jennings
[7] Modern Control System-Richard C.Dorf and Robert H. Bishop
[8] Balancing a two-wheeled Autonomous Robot- Rich Chi Oii-The University of Western Australia- School of Mechanical Engineering- 2003
[9] Motion Control of Two-wheeled Mobile Manupulator with Passive Joint- Wijesekara Abeygunawardhana and Pradeep Kumara
[10]Balance-Bot- Victor Vicente Abreu- University of Madeira- Math and Engineering Department
[11] Controller Design fof two-wheels Inverted Pendulum Mobile Robot Using PISMC- Nawari S.W, Ahmad M.N, Osman J.H.S, Husain A.R and Abdollah M.F
[12] Comparison of Control Algorithm for an Inverted Pendulum- Trisha Annie Hamar
[13] Inverted Pendulum- Analysis, Design and Implementation- Instrumentation and Control lab at the Institute of Industrial Electronics Engineering, Karachi, Pakistan
[14] Modeling and control of a pneumatically actuated inverted pendulum- Tihomir Žilić, Danijel Pavković, Davor Zorc
[15] Building a Two Wheeled Balancing Robot- Peter Miller-University of Southern Queensland
[16]http://www.engin.umich.edu/group/ctm/examples/pend/invPID.html - Control Tutorial for Matlab
[17] Balancing a Two wheeled Robot- Kealeboga Mokonopi- University of Southern Queensland-Faculty of Engineering and Surveying-2006
[18] Open Source Mobile Inverted Pendulum- Tony Le
[19] http://zone.ni.com/devzone/cda/tut/p/id/6440