全自動自我平衡電動獨輪車之控制系統設計與實作

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研究生：	呂冠穎 Lu, Kuan-Ying
論文名稱：	全自動自我平衡電動獨輪車之控制系統設計與實作 Control System Design and Implementation of an Electrically Auto-balanced Unicycle
指導教授：	葉廷仁 Yeh, Ting-Jen
口試委員:	陳榮順 Rong-Shun Chen 顏炳郎 Ping-Lang Yen
學位類別：	碩士 Master
系所名稱：	工學院 - 動力機械工程學系 Department of Power Mechanical Engineering
論文出版年：	2014
畢業學年度：	102
語文別：	英文
論文頁數：	61
中文關鍵詞：	動態模型、行動機器人、電動車、Lagrange方程式、線性模型、狀態迴授控制
外文關鍵詞：	Dynamic Modeling, Mobile Robots, Electric vehicle, Lagrange formulation, Linearized model, State-feedback control
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本論文要建立一種單輪式個人載具，尤指可自動前進行走並於行進與轉彎時自動維持平衡的一種全自動平衡電動單輪車。本載具是一輛類似倒單擺架構的獨輪車，使用輪內式馬達作為驅動車輪並安裝一個轉向馬達可自動作動轉向機構的轉向以維持側向穩定性。為了設計轉向馬達的側向控制系統，我們利用Lagrange方程式推導系統動態方程式，對此動態方程式在操作點作線性化用以顯現系統特性以利於實行控制設計。針對此線性系統設計狀態回授控制器，並以軟體模擬分析得知該控制器可以成功地使本載具在不同車速下實現維持側向穩定性及轉向。最後我們根據模型、動態方程式以及模擬驗證，著手設計實驗平台與硬體機構，並整合訊號處理、馬達控制，實現全自動平衡電動單輪車。

In this thesis, modeling, simulation and control of a novel personal mobility electric vehicle are presented. The vehicle is structurally similar to a pedaless unicycle but uses a hub motor as the driving wheel and contains a steering motor which automatically actuates a steering mechanism for steering and maintaining lateral stability. Under a promise that a pitch control system has already been established, in order to design the lateral control system for the steering motor, Lagrange formulation is firstly used to derive the dynamic equation. The dynamic equation is then linearized around an equilibrium point to acquire a linear model for revealing the crucial dynamic characteristics and facilitating the control design. A LQR and a pole placement controller are designed using the linear model. Simulations show that the controller can successfully steer the vehicle and achieve lateral stability under different vehicle speeds. Final, in the experiment, integrating signal processing, motor drive control and mechanical design, accomplish an electrically auto-balanced unicycle.

Contents

Abstract    i
中文摘要    ii
Acknowledge    iii
Contents    iv
List of Figures    vii
List of Tables    x
Introduction    1
1    Background & Motivation    1
2    Literature Review    4
3    Scope and Contents of the Thesis    7
System Description and Analysis    8
1    Structure of the Unicycle    8
2    Model of the Unicycle System    9
2.1    Definition of coordinate and variables    9
2.2    Assumptions of the system    10
3    Dynamics of the Unicycle    12
3.1    Derivation of the system dynamics    12
3.2    Linearization of the model    18
4    Discussion of the system characteristic    19
Controller Design and Simulation    23
1    Controller Design    23
1.1    LQR Controller Design    23
1.2    Poles Placement Method    26
2    Simulation of the Controllers    28
2.1    Simulation of the LQR Controller    28
Longitudinal Balancing Control and Blushless DC Motor Control Strategy    32
1    Longitudinal direction Model of Unicycle    32
2    BLDC Motor Drive & Control    34
2.1    Pulse Width Modulation (PWM)    34
2.2    Six Step Square Wave & Switch of Four Quadrant    35
2.3    Current Control    39
3    Pitch Control Strategy    40
Implementation of the System    42
1    Mechanism and Hardware Configuration    42
1.1    Steering and Lateral Balancing Mechanism    44
1.2    Sensor module    45
1.3    LiFePO3 Battery    47
1.4    Actuator and Driver module    47
1.5    Upper Level Controller    50
2    Signal Processing    51
2.1    Sensor Fusion    51
2.2    Signal of Potentiometer    53
3    Results and Discussions of Experiments    54
3.1    Current control of Hub motor    54
3.2    Response of Servo motor    55
3.3    Data of Riding    55
Conclusions and Future Works    58
1    Conclusions    58
2    Future Works    59
Bibliography    60


                                

[1] Segway http://www.segway.com/

[2] U3-X http://world.honda.com/U3-X/

[3] eniCycle http://www.enicycle.com/

[4] C.F. Huang and T.J. Yeh, “Modeling, control and implementation of a pedaled, self-balanced unicycle,” IEEE/SICE International Symposium on System Integration (SII), 2011.

[5] Z. Sheng and K. Yamafuji, “Postural stability of a human riding a unicycle and its emulation by a robot,” IEEE Transactions on Robotics and Automation, 1997. 13(5): p. 709-720.

[6] Y.S Xu, K.W. Au, G.C. Nandy and H.B. Brown, “Analysis of actuation and dynamic balancing for a single-wheel robot,” Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, 1998.

[7] T.B. Lauwers, G.A. Kantor and R.L. Hollis, “A dynamically stable single-wheeled mobile robot with inverse mouse-ball drive,” Proceedings IEEE /ICRA International Conference on Robotics and Automation, 2006.

[8] A.M. Bloch, M. Reyhanoglu and N.H. McClamroch, “Control and stabilization of nonholonomic dynamic systems,” IEEE Transactions on Automatic Control, 1992. 37(11): p. 1746-1757.

[9] R. Chunlei and N.H. McClamroch, “Stabilization and asymptotic path tracking of a rolling disk,” Proceedings of the 34th IEEE Conference on Decision and Control, 1995.

[10] J.H. Ginsberg, “Advanced engineering dynamics” Cambridge, U.K., Cambridge Univ. Press, 1995.

[11] Y.T. Chen, “Control system design and implementation of a pedaled, self-balanced unicycle,” National Tsing Hua University, 2010.

[12] ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore http://nptel.ac.in/courses/101108047/module9/Lecture%2021.pdf
(Pole placement)

[13] B. L. Chen, “Control System Design and Implementation of a Self-balanced Unicycle with Steering Mechanism”, National Tsing Hua University, 2012

[14] K. H. Huang, “Voltage Control Strategy and Efficiency Analysis of PMSG in the Regeneration Mode”, National Tsing Hua University, 2013

[15] F. K. Wu, T. J. Yeh, C. F. Huang, “Motor control and torque coordination of an electric vehicle actuated by two in-wheel motors,” Mechatronics, Volume 23, Issue 1, February 2013, Pages 46-60.

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