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| 研究生： |
王宗緯 Tsung-wei Wang |
|---|---|
| 論文名稱： |
即時更新系統參數於負載變化雙輪機械人之研究 A Study of Immediate Updating System Parameters for Two-Wheeled Robot with Load Variation |
| 指導教授： |
邱士軒
Shih-hsuan Chiu |
| 口試委員: |
林其禹
Chyi-yeu Lin 鄧惟中 Wei-chung Teng 溫哲彥 Che-yen Wen |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工程學院 - 材料科學與工程系 Department of Materials Science and Engineering |
| 論文出版年： | 2013 |
| 畢業學年度： | 102 |
| 語文別： | 英文 |
| 論文頁數： | 88 |
| 中文關鍵詞： | 雙輪機械人 、極點擺放控制器 、參數估測 、狀態變數方程式 |
| 外文關鍵詞： | Two-wheeled robot, pole placement controller, parameter estimation, state equation |
| 相關次數： | 點閱：157 下載：1 |
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雙輪機械人為不穩定的系統，需透過控制器才能使其達到穩定的自我平衡以及行走，因此雙輪機械人的控制技術不斷的被研究。雙輪機械人運動控制的研究中，以現代控制為架構，並利用狀態回授控制器使雙輪機械人達到車身平衡、定位與行走等。在移動過程中，若有負載加入時，雙輪機械人之參數無法即時調整，導致雙輪機械人無法穩定行走。基於上述問題，本研究提出以現代控制為基礎架構，利用荷重計更新車身重量，經過動態模型中計算出質心高度和車身轉動慣量，將系統參數更新，接著利用極點擺放控制器演算法即時更新系統控制增益，最後再以雙輪機械人平衡與行走實驗來驗證此方法的正確性。
Two-wheeled robot is an inherently unstable system, it needs controller to meet the basic requirement, such as, balance and movement. Therefore, two-wheeled robot’s control method is constantly been researched.
The study of two-wheeled robot is based on modern control with state feedback to achieve the balance and motion control. Two-wheeled robot can not move steadily while load is changed, because the system parameters have not update.
In order to overcome the problem, using load cell sensor to get the mass of the inverted pendulum and using dynamic model to estimate the center of mass and the moment of inertia of the inverted pendulum. By updating the system parameters to adjust the control gain from pole placement controller to enhance its robustness. In the end, using experiments to verify its performance.
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