臺灣博碩士論文加值系統

本論文主要針對非完整約束系統提出一套階層化設計的架構。對於一個具有非完整約束的多剛體系統而言，如何建立一組適當的系統模型，幫助控制器設計以及發揮其效能，為一大問題。由於Appell方程式所含的解耦特性，我們可以藉由選取適當的特許變數，使得整個系統可分解成運動模型以及動力模型兩部分。針對這兩個模型，可分別設計控制器，使得在控制上更加的彈性且易於實現。本文先建立矩陣形式的Appell方程式，透過一個有系統的程式來處理非完整約束系統模型化的問題。在建模的過程中，適當的選取一組特許變數，使得動力模型與運動模型互相解耦，整個系統因而可區分為上層路徑規畫，中層運動層以及低階動力層。由於運動過程中可能有擾動發生或者初使點並不在參考路徑上，因此採用模糊補償器來解決此問題，根據載具的姿態以及位置誤差來進行運動補償，使其能回到參考路徑上。最後，我們改裝了一真實大小的三輪載具，並證實本文所構思的方式，其追蹤效果與預期吻合。

The main theme of this thesis is to perform hierarchical control architectures for a system subject to nonholonomic constraints. For a multi-rigid-body system with nonholonomic constrain, the issue of setting a appropriate model so that the controller design becomes systematic and efficient is important. Basing on the decoupling feature of the Appell equation, we can select appropriate privilege variables to make the system separated into dynamic model and kinematics model. For the two parts, we can design controllers individually, which make the control more flexible and easy. In this thesis, we first construct the matrix form of the Appell equation to deal with the nonholonomic systems. The choice of appropriate privilege variables makes it possible that the dynamic part and kinematics part decoupled. The whole system can then be separated into three levels: motion planning, kinematics, and dynamic. Because disturbance may appear or initial configuration may not be on the reference path, we use fuzzy kinematics compensator to solve this problem. A three-wheeled vehicle was restructured and used to teat the proposed methodology. Experimental results show the effectiveness of our design.

摘要................................................................i
Abstract...........................................................ii
目錄..............................................................iii
圖目錄..............................................................v
表目錄............................................................vii
第一章 緒論.........................................................1
1.1 內容簡介與文獻回顧.......................................1
1.2 論文架構.................................................2
第二章 系統架構.....................................................3
2.1 無人載具系統架構.........................................3
2.2 四連桿設計...............................................4
2.3 導航系統.................................................7
2.4 感測系統及各元件........................................11
第三章 簡化型Appell’s動力方程式..................................17
3.1 多剛體系統之變分方程式..................................18
3.2 簡化型Appell’s 方程式....................................20
3.3 矩陣形式的轉換..........................................23
第四章 三輪載具之建模..............................................26
4.1 問題描述................................................26
4.2 幾何約束以及非完整約束..................................27
4.3 三輪載具之運動方程式推導................................31
第五章 階層式制..................................................35
5.1 階層式控制基本概念......................................35
5.2 模糊補償器..............................................37
5.3 模擬結果................................................41
第六章 硬體實現與實驗結果..........................................44
6.1 系統整合................................................44
6.2 三輪無人載具控制實驗....................................45
6.3 實驗結果及分析..........................................49
第七章 結論........................................................53
參考文獻...........................................................54

[1] Jourdain, P. E. B., “Note on an Analogue of Gauss Principle of Least Constraint,” Q. J. Pure Appl. Math., vol. 8, pp. 153-157,1909.
[2] Wolfe, W. A., “Analytical Design of an Ackermann Steering Linkage,” T rans. ASME Journal of Engineering for Industry, vol. 11, pp. 11-14, 1959.
[3] Pars, L. A., 1965, A Treatise on Analytical Dynamics, Ox Bow Press.
[4] H.S. Chen, L.S. Wang, and F.R. Chang, “Long-duration carrier-smoothed-code algorithm for GPS positioning” Position Location and Navigation Symposium, pp. 112-117, March 2000.
[5] Kane, T. R., “Formulation of Dynamical Equations of Motion,” American J. of Physics, vol. 51, no. 11, pp. 974-977, 1983.
[6] Henry J. Sneck, “Machine Dynamics” Prentice-Hall, Englewood Cliffs, New Jersey, 1991.
[7] Genta, G., Motor Vehicle Dynamics: Modeling and Simulation, Singapore, World Scientific Publishing Co. Pte. Ltd, 1997.
[8] S. Pawlowski, P. Dutkiewicz, K. Kozlowski, and W. Wroblewski, ”Fuzzy logic implementation in mobile robot control”, Proceedings of the Second International Workshop on Robot Motion and Control, pp. 65-70, Oct. 2001.
[9] Wang, L. S. and Pao, Y. H., “Jourdain’s Variational Equation and Appell’s Equation of Motion for Nonholonomic Dynamical Systems,” American Journal of Physics, vol. 71, no. 1, pp. 72-82, 2003.
[10] Pu-Sheng Tsai, Li-sheng Wang, and Fan-Ren Chang, “Modeling and hierarchical tracking control of tri-wheeled mobile robots”, IEEE Transactions on Robotics, Vol. 22, No. 5, Oct. 2006.
[11] 陳濱,”分析動力學”,台灣高等教育出版社,中華民國七十八年八月
[12] 許富誠, 全球定位系統載波相位在姿態判定之應用, 台大應力所碩士論文, 中華民國八十三年六月.
[13] 孫培華, 模型車自動導航控制系統設計, 台大應用力學研究所碩士論文, 中華民國八十六年六月
[14] 曹根瑞, 載具平面運動之路徑規劃與螢幕遙控, 台大應力所碩士論文, 中華民國九十一年九月.
[15] 李明威, 無人車之B-樣條曲線路規劃與控制, 台大應力所碩士論文, 中華民國九十二年七月.
[16] 吳宣誼, 雙無人載具協同控制與實驗, 台大應用力學研究所碩士論文, 中華民國九十四年七月
[17] 蔡樸生, 非完整約束輪型機器人之建模與控制, 台大電機工程研究所博士論文, 中華民國九十五年七月