摘要
安全對於倒單擺車是一個重要的議題。 在本論文中，為了提高倒單擺車在重心未知的情況下的穩定性，新型的平衡控制算法零力矩控制法被深入研究。模擬以及實驗結果證實零力矩控制法能夠有效估測倒單擺車的重心變化並且能夠抵抗外界的干擾。 此外，為了研究實施於倒單擺車上的防打滑控制， 安裝于輪上的無線滑差加速度量測系統被設計出來，其量測的準確度以及即時性也得到實際數據的佐證。基於滑差加速度可量測前提下進行的模擬實驗展示了在輪胎打滑情況下利用本文設計的防打滑控制器系統能夠達到穩定的效果。

Abstract
Safety is significant issue in wheeled inverted pendulum(WIP) vehicles. In this thesis, in order to enhance the stability under uncertain center of gravity, a novel control algorithm called Zero Torque Control(ZTC) is investigated. Simulation and experimental results verify that ZTC can estimate the changing center of gravity of WIP vehicle and reject external disturbances. In addition, in order to study on the anti-slip control on WIP vehicles, an on-wheel wireless slip acceleration detection unit is designed and it’s performance is experimentally validated. Simulation on an anti-slip control based on the slip acceleration measurement is conducted to demonstrade the feasibility of achieving stability and safety under tire slip.


Keywords: WIP, Sensor Fusion, COG Estimation, Anti-slip Control,Wireless Sensor, Sensor Signal Processing.

Contents
Abstract i
Acknowledgement ii
List of Tables v
List of Figures vii
1 Introduction 1
1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Thesis Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 System Analysis 5
2.1 System Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 System Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Balancing Controller Design 10
3.1 Adaptive Controller Design . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Zero Torque Control Simulation Results . . . . . . . . . . . . . . . . . 14
3.3 Wheeled Inverted Pendulum Vehicle Design . . . . . . . . . . . . . . . 16
3.4 Performance Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4 Anti-slip Controller Design and Simulation 19
4.1 Problem Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
iii
4.2 System Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.3 Compensation Design . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.4 Simulation Verification . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.4.1 Slip Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.4.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . . 27
5 Anti-slip Control Implementation 32
5.1 On-Wheel Slip Measurement System . . . . . . . . . . . . . . . . . . . 32
5.2 Slip Acceleration Measurement . . . . . . . . . . . . . . . . . . . . . . 32
5.3 Implementation Problems . . . . . . . . . . . . . . . . . . . . . . . . . 36
6 Conclusions and Future Work 38
6.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

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