本研究主要在發展一套六軸慣性感測器融合演算法，以用於如自行車、輪椅等移動載具中估測姿態及加速度來達成電動輔助功能。六軸慣性感測器由三軸加速規與三軸陀螺儀組成，由於加速規在量測儀動載具時會同時量測到線性加速度、向心加速度及重力加速度，故本研究藉由加入陀螺儀以及載具速度的量測訊號發展慣性感測器融合演算法來進行解耦合，藉此方法估測出高頻寬及高穩定性的姿態及加速度。本研究另會推導電動輔助載具打滑時之動態，並且分析此打滑動態對於該演算法之影響，最後建立打滑偵測的演算法。感測器融合及打滑偵測演算法首先以Simulink模擬進行驗證，之後將其應用於電動輔助載具作實驗驗證。其中實驗驗證的電動載具包含電動輔助輪椅及電動輔助自行車，在此兩類載具中，我們藉由估測載具之姿態與加速度進行回授，去對永磁無刷直流馬達進行力矩控制來達成質量補償、阻力補償及重力補償。

This paper presents a sensor fusion algorithm of six-axis inertial sensors for power assisted applications. The algorithm is used to estimate attitude and acceleration of moving vehicles including bicycles and wheelchairs to achieve power assist. A six-axis inertial sensor includes a three-axis accelerometer and a three-axis gyroscope. Because accelerometers measure linear acceleration, gravitational acceleration and centrifugal acceleration at the same time, the proposed algorithm allows one to get high-bandwidth information on attitude and linear acceleration separately by fusing measurements from gyroscopes and the velocity sensor of the vehicle. Furthermore, this thesis also derives slip dynamics of vehicles and analyzes its characteristics. Then, an algorithm on slip detection is propose. For validation, we first verify the sensor fusion algorithm and slip detection algorithm using Simulink simulations. Afterward, the algorithms are implemented on the vehicles to achieve power-assist function. The vehicles include bicycles and wheelchairs. The power-assist function contains three compensations; mass compensation, damping compensation and gravity compensation. The performance of power-assist vehicles is verified experimentally.

目錄
摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vii
表目錄 ix
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 3
1.3 論文簡介 7
第二章 電動輔助載具及原理 8
2.1 電動輔助載具動態模型 8
2.2 質量補償 9
2.3 阻力補償 12
2.4 重力補償 14
第三章 六軸慣性感測器融合 16
3.1 尤拉角及狀態方程式 16
3.2 姿態估測器設計 19
3.3 姿態估測器模擬 21
3.4 姿態及低頻加速度估測器設計 26
3.5 姿態及低頻加速度估測器模擬結果 29
3.6 向心加速度回授 31
3.7 向心加速度回授模擬結果 34
第四章 電動輔助自行車打滑動態與偵測 37
4.1 電動輔助自行車打滑動態 37
4.2 摩擦係數模型 40
4.3 打滑偵測 42
4.4 打滑偵測模擬結果 45
第五章 實驗結果 48
5.1 實驗設備 48
5.1.1 馬達 49
5.1.2 感測器 50
5.1.3 控制器 50
5.1.4 馬達驅動電路 51
5.2 實驗結果 52
5.2.1 姿態與低頻加速度估測器 52
5.2.2 向心加速度回授 53
5.2.3 質量補償 54
5.2.4 阻力補償 55
5.2.5 重力補償 58
第六章 結論與未來工作 61
6.1 結論 61
6.2 未來工作 61
參考文獻 63

[1] D. Petersson, J. Johansson, U. Holmberg, and B. strand, "Torque Sensor Free Power Assisted Wheelchair," IEEE 10th International Conference on Rehabilitation Robotics, 2007, pp. 151-157.
[2] E. Abel, T. Frank, G. Boath, and N. Lunan, "An Evaluation Of Different Designs Of Providing Powered Propulsion For Attendant Propelled Wheelchairs," Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 1991, pp. 1863-1864.
[3] A. Kakimoto, H. Matsuda, and Y. Sekiguchi, "Development of power-assisted attendant-propelled wheelchair," 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society in Engineering in Medicine and Biology Society, vol.4, 1997, pp. 1875-1876.
[4] C.-C. Ou, C.-J. Chen, and T.-C. Chen, "Modelling and design a power assisted wheelchair used torque observer," International Symposium on Computer Communication Control and Automation, 2010, pp. 63-66.
[5] C.-C. Ou and T.-C. Chen, "Design of Power Assisted Wheelchair Based on Torque Observer," Second International Conference on Innovative Computing, Information and Control, 2007, pp. 347-347.
[6] T. Kurosawa, Y. Fujimoto, and T. Tokumaru, "Estimation of pedaling torque for electric power assisted bicycles," 40th Annual Conference of the IEEE Industrial Electronics Society, 2014, pp. 2756-2761.
[7] H. Kawajiri, H. Mizoguchi, S. Sakaino, and T. Tsuji, "Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle," 2015 IEEE International Conference on Mechatronics, 2015, pp. 364-369.
[8] A. T. M. Willemsen, J. A. v. Alsté, and H. B. K. Boom, "Real-time gait assessment utilizing a new way of accelerometry," Journal of Biomechanics, vol. 23, 1990, pp. 859-863.
[9] A. T. M. Willemsen, C. Frigo, and H. B. K. Boom, "Lower extremity angle measurement with accelerometers-error and sensitivity analysis," IEEE Transactions on Biomedical Engineering, vol. 38, 1991, pp. 1186-1193.
[10] F. Ghassemi, S. Tafazoli, P. D. Lawrence, and H.-Z. Keyvan, "An accelerometer-based joint angle sensor for heavy-duty manipulators," IEEE International Conference on Robotics and Automation, vol.2, 2002, pp. 1771-1776.
[11] A. J. Baerveldt and R. Klang, "A low-cost and low-weight attitude estimation system for an autonomous helicopter," IEEE International Conference on Intelligent Engineering Systems, 1997, pp. 391-395.
[12] S. Y. Soo, "Attitude estimation using low cost accelerometer and gyroscope," 7th Korea-Russia International Symposium on Science and Technology, vol.2, 2003, pp. 423-427.
[13] N. Yu, Y. Li, X. Ruan, and C. Wang, "Research on attitude estimation of small self-balancing two-wheeled robot," in Control Conference (CCC), 2013 32nd Chinese, 2013, pp. 5872-5876.
[14] A. Wang, H. Li, P. Sun, Y. Wang, and S. Wan, "Dsp-based Field Oriented Control of PMSM using SVPWM in Radar Servo System," in Electric Machines and Drives, 2005 IEEE International Conference on, 2005, pp. 486-489.
[15] A. Mohammed, K. Godbole, and M. Konghirun, "Dual field oriented permanent magnet synchronous motor (PMSM) drive using a single DSP controller," in Applied Power Electronics Conference and Exposition, 2006. APEC '06. Twenty-First Annual IEEE, 2006, pp. 5.
[16] K. H. Harib, E. A. Khousa, and A. Ismail, "Field oriented motion control of a 3-phase permanent magnet synchronous motor," 2nd International Conference on Electric Power and Energy Conversion Systems, 2011, pp. 1-7.
[17] A. Samar, P. Saedin, A. I. Tajudin, and N. Adni, "The implementation of Field Oriented Control for PMSM drive based on TMS320F2808 DSP controller," IEEE International Conference on Control System, Computing and Engineering, 2012, pp. 612-616.
[18] 梁景皓，「騎乘腳踏車機器人之動態分析與轉彎控制」國立清華大學動力機械工程學系碩士論文，2015。