本論文旨在發展具有平衡質量塊之無人自行車駕駛控制系統的設計與實現技術。無人自行車的控制系統包含工業電腦駕駛控制子系統、前輪定位控制子系統、平衡質量塊位移控制子系統與後輪速度控制子系統，其中前輪定位控制器、平衡質量塊位移控制器與後輪速度控制器均由德州儀器公司所生產的TMS320F240 數位處理單晶片來實現。在經由工業電腦控制器運算出所需要的控制命令之後，使用PI控制法則來控制其轉向角度、平衡質量塊位移和後輪速度。本論文分別利用適應回授線性化、適應倒逆步法則與模糊邏輯理論設計出無人自行車駕駛控制器，透過電腦模擬的結果，可以證明所設計的控制法則的效果與能力。本文所有的控制法則皆使用標準的C程式語言撰寫，實驗上所得到的數據，可以驗證本論文所設計的控制系統的可行性及有效性。

This thesis aims at developing technologies for design, control and implementation of a riderless bicycle with a self-balancing mass. The control system of the unmanned bicycle is composed of an industrial personal computer (IPC)-based steering controller, a handlebar position control subsystem, a self-balancing mass position control subsystem, and a rear wheel speed control subsystem. The handle-bar position controller, the balancing mass position controller, and the rear wheel speed controller are implemented on the same TMS320F240 digital signal processor (DSP) single chip and they use PI control laws to achieve the position and velocity commands tracking, respectively. Three steering controllers are presented based on adaptive feedback linearization, adaptive backstepping and fuzzy control theory, respectively. Several computer simulations are described which have shown the feasibility of the proposed steering control algorithms. All the steering control laws are implemented using standard C programming language. Through experimental results, the proposed control methods have been shown effective and useful in steering the riderless bicycle.

Chinese Abstract i
English Abstract ii
Acknowledgements iii
Contents iv
List of Figures viii
List of Tables xiv
Nomenclature xv

Chapter 1 Introduction 1
1.1 Introduction 1
1.2 Survey of Related Research 1
1.3 Motivation and Objectives………………………………………………………3
1.4 Contributions of the Thesis 4
1.5 Organization of the Thesis 5

Chapter 2 Control Architecture and Modeling……………………………..6
2.1 Introduction .6
2.2 Physical Configuration of the Riderless Bicycle .8
2.3 Brief Description of Key Components in the Riderless Bicycle ………………...9
2.3.1 Introduction................................................................................................... 9
2.3.2 IPC-based Steering Controller 10
2.3.3 TMS320F240 Chip 11
2.3.4 DSP-based Position Controller 14
2.3.5 DSP-based Speed Controller 17
2.3.6 Tilt Sensor 19
2.3.7 Potentiometer 20
2.4 Mathematical Modeling 23
2.4.1 Introduction 23
2.4.2 Kinematics Model 23
2.4.3 Dynamics Model 26
2.5 Concluding Remarks 29

Chapter 3 Adaptive Steering Control Law 30
3.1 Introduction 30
3.2 Adaptive Feedback Linearization 31
3.2.1 Computer Simulations and Discussion 34
3.2.2 Experimental Results and Discussion 40
3.3 Adaptive Backstepping Algorithm………………………………………………42
3.3.1 Computer Simulations and Discussion 45
3.3.2 Experimental Results and Discussion 51
3.4 Concluding Remarks 53

Chapter 4 Fuzzy Steering………………………………………………………..54
4.1 Introduction 54
4.2 Fuzzy Steering Controller Design……………………………………………….55
4.2.1 Fuzzy Controller Structure………………………………………………...55
4.2.2 Fuzzification……………………………………………………………….57
4.2.3 Fuzzy Inference and Fuzzy Rules 59
4.2.4 Defuzzification 62
4.3 Simulation Results and Discussion……………………………………………...63
4.4 Experimental Results and Discussion…………………………………………...70
4.5 Concluding Remarks…………………………………………………………….72

Chapter 5 Summaries and Future Work 73
5.1 Summaries 73
5.2 Future Work 74

References 76

Appendix A………………………………………………………………………….78

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