本文首先係藉由自行車的系統動態分析，進而設計適當之控制器，以實現自行車在無人操控的狀態下能平衡行駛。在自行車的動態模型中，可以發現系統的參數會受到車速的影響，若以一般的方式設計控制器，很難能夠應付系統的參數變異。因此，本研究將模型分解為兩個有時變係數的線性子系統的凸集，所提出的控制器也包括兩個線性全狀態回授控制器的凸集。經證明若全狀態回授控制器滿足一套線性矩陣不等式，便能夠保證在所設的行駛速度範圍內，自行車能夠保持平衡。
確保了平衡前進，接著將探討如何實現自行車的軌跡追蹤。首先，當自行車行駛時，龍頭的角度輸出以及後輪無刷直流馬達的速度均為已知。因此能透過這兩資訊可間接地知道當下自行車之位置以及方向角速度。有了位置以及方向角的資訊，便可與指定之直線軌跡做比較，得知當下自行車質心與直線軌跡之距離，以及方向角與直線軌跡的角度差。當兩誤差值收斂至零，便能確保自行車在指定的路徑上行駛。


關鍵字：
腳踏車動態、參數變異、平衡控制、軌跡追蹤

By performing dynamic analysis of the bicycle, a novel controller is designed to balance and steer the bicycle autonomously along the road surface. According to the dynamic model of the bicycle, the system parameters depend on the bicycle speed. Therefore, to design a controller which can deal with the speed-dependent characteristics, the dynamic model is firstly decomposed into a convex combination of two linear subsystems with time-varying coefficients. The proposed controller is then expressed as a convex combination of two linear, full-state feedback controllers. It can be proved that if the two full-state feedback controllers satisfy a set of linear matrix inequalities, then it can be ensured that the bicycle can maintain balance under a range of travel speed.
After considering the balancing problem, this thesis will investigate how to control the bicycle to achieve the trajectory tracking. By using steering angle and the measured bicycle speed, one can compute the bicycle's position and the orientation change which can be subsequently used to calculate, for feedback control purposes, the distance and orientation deviation from the COG of bicycle to the given trajectory. The balancing, steering as well as the tracking performance of the autonomous bicycle are all verified through simulations and experiments.


Keyword: Bicycle dynamic, parameter variation, balancing control, trajectory tracking

目錄
摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 VIII
符號一覽表 IX
第一章 緒論 1
1.1研究動機與目的 1
1.2文獻回顧 3
第二章 系統動態模型 5
2.1定義系統參數 5
2.2側傾動態方程式 6
第三章 系統分析與控制器設計 9
3.1系統分析 9
3.2分解系統模型 10
3.3控制器設計 12
3.4模擬結果 15
3.4.1以LMI設計之控制器模擬 15
3.4.2以LMI設計之控制器與其他控制器之比較 19
第四章 自行車軌跡追蹤 21
4.1 避障 21
4.2 自行車運動模型 22
4.3 直線追蹤 23
4.4 電腦模擬 26
第五章 腳踏車平衡控制實作與實驗數據 31
5.1 硬體介紹 31
5.1.1 龍頭 32
5.1.2 輔助輪機構 33
5.1.3 輪轂馬達 34
5.1.4 微控制器 36
5.1.5 慣性感測器 37
5.1.6 電池 38
5.2 實驗結果 38
5.2.1 系統架構 38
5.2.2 平衡控制 39
5.2.3 轉彎控制 47
第六章 結論與未來工作 49
6.1結論 49
6.2未來工作 50
參考文獻 53

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