臺灣博碩士論文加值系統

本研究主要目的為設計製作大型雙輪自平衡平台以作為近似真人尺寸之人型機器人或其他類似應用之載具。平台採用偏心對稱間接驅動底盤系統之設計，並以Kane動力學建立系統動態數學模型，且使用LQR方法及實際測試調整得到系統回授增益設計出一狀態回授控制器。實際測試顯示此雙輪自平衡平台可順利地完成自主平衡、直行與轉向。

The objective of this research is to design and fabricate a two-wheeled self-balancing platform that can be employed as a transporter of a human-sized humanoid robot. The mathematical model of the platform was derived by Kane’s dynamics. A feedback controller based on the model was developed using the linear quadratic regulator (LQR) method and modified by conducting experiments. The test results show that the controller can effectively and successfully control the platform to balance itself, move forwards and backwards, and turn left and right.

目錄 i
圖目錄 iii
表目錄 vi
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 4
1.3 研究目的 13
1.4 論文架構 13
第二章 雙輪自平衡平台系統架構 14
2.1 第一版雙輪自平衡平台底盤系統 17
2.1.1 驅動部份 18
2.1.2 傳動部份 19
2.1.3 骨架部份 20
2.2 第二版雙輪自平衡平台底盤系統 22
2.2.1驅動部份 25
2.2.2傳動部份 26
2.2.3骨架部份 27
2.3 控制系統 29
2.3.1 控制核心模組 30
2.3.2 感測器 32
2.3.3 系統電源電路 35
2.4 系統方向定義與實體接續 37
2.4.1 系統方向定義 37
2.4.2 實體接續 39
第三章 雙輪自平衡平台數學模型 42
3.1 雙輪自平衡平台系統定義 42
3.2 雙輪自平衡平台運動分析 44
3.3 雙輪自平衡平台之運動方程式 46
第四章 控制器設計與模擬及運動決策 49
4.1 控制器設計 49
4.2 模擬驗證 55
4.3 運動決策 58
4.3.1 直線運動 58
4.3.2 原地轉向運動 59
第五章 實驗結果分析與討論 60
5.1 實驗一：第一版雙輪自平衡平台之基本運動控制測試 61
5.1.1 直立平衡 61
5.1.2 傾倒自動直立平衡 62
5.1.3 直行 63
5.1.4 原地轉向 67
5.2 實驗二：以無負載測試皮帶輪間接驅動對於致動馬達與傳動輪間誤差之影響 72
5.3 實驗三：於平衡狀態下測試轉動角度90°對於致動馬達與傳動輪間差異之影響 75
5.4 實驗四：第二版雙輪自平衡平台之基本運動控制測試 78
5.4.1直立平衡 78
5.4.2傾倒自動直立平衡 79
5.4.3 直行 80
5.4.4 原地轉向 81
第六章 結論與未來展望 83
6.1 結論 83
6.2 未來展望 87
參考文獻 88

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