本研究藉由腳踏車的動態分析，進而實現使機器人騎乘腳踏車能夠保持平衡不受重心的偏移而影響騎乘方向。在腳踏車的動態分析中，可以得到其二階側向動態方程式，其中描述了側傾角加速度受到側傾角、龍頭轉角及龍頭角速度影響的關係。透過動態方程式可設計以龍頭轉角作為輸入的腳踏車平衡控制器，考慮實際系統的重心側傾角與慣性感測器測量的車身側傾角會有些微的偏差，若僅回授車身側傾角及其角速度進行控制便會因重心有所偏差而無法筆直向前騎乘，故研究中設計一估測器以計算偏差的重心側傾角，使腳踏車能自動平衡重心筆直前進。研究目前也包含騎乘方向的控制，以及嘗試讓機器人能夠自行起步與避障。

This thesis develops an adaptive controller for a bicycle-riding robot that can provide consistent balancing and steering performance under uncertain center of gravity. The adaptive controller contains two parts: the adaptation part and the PD control part. While the adaptation part estimates the roll angle associated with the uncertain center of gravity, the PD control part uses the estimated roll angle and the measured roll rate to stabilize the bicycle laterally. The design of the adaptive controller is based on a linearized third-order model which contains the roll angle, the roll rate and the steering angle as the states. The input of the model is a fictitious quantity that once it is determined by the controller, the actual steering angle input to the bicycle is obtained by low-pass filtering the fictitious input. Simulations and experiments verify that the adaptive control can automatically steer the bicycle in a straight line even if mass imbalance exists.

摘要-I
Abstract-II
致謝-III
圖目錄-VII
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-2
第二章、系統動態模型-5
2.1座標軸與變數定義-5
2.2動態方程式-6
2.2.1側傾動態方程式-6
2.2.2方程式線性化-8
第三章、系統分析與控制器設計-9
3.1 系統分析-9
3.2 PD平衡控制器設計-10
3.3 適應性重心估測控制器-11
3.4 模擬結果-13
3.4.1 未加入重心估測的PD控制器-13
3.4.2 重心估測控制器-16
第四章、平衡控制實作-20
4.1硬體介紹-20
4.1.1機器人-20
4.1.2 腳踏車-22
4.1.3 慣性感測器-23
4.1.4 控制及驅動板-23
4.2機器人運動控制-24
4.2.1手臂關節角度-26
4.2.2腿部關節角度-26
4.3實驗結果-27
4.3.1系統架構-27
4.3.2平衡控制28
4.3.3轉彎控制-30
第五章、結論與未來工作-36
5.1 結論-36
5.2 未來工作-36
參考文獻-38
附錄A、腳踏車車速-39

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