使用前輪轉向力矩控制之自平衡電動機車

Abstract

本論文介紹了一種創新的機車技術，利用前輪轉向力矩控制的方式來調整車輛的傾角，使得機車在低速行駛及類靜止時仍能保持穩定的自平衡狀態，目前市面上有一些重型自平衡二輪車，但是通常需要使用陀螺儀搭載慣性飛輪來穩定車身姿態，而這些系統因為飛輪體積與重量的增加限制了機車的靈活度和可控性。針對台灣常見的一般機車規格，本論文提出了使用前輪轉向力矩控制的自平衡方法，這種系統只需在腳踏板位置增加一顆前輪轉向馬達和連接龍頭與前輪轉向馬達之二連桿機構，相比於陀螺儀搭載飛輪的方式，能有效減少體積與重量的增加，更適合用於一般機車上面。 在論文中，經過對二輪機車動態性能和參數性質的分析後，分別針對低速且定速與變速模型建立了具有前輪轉向力矩系統的完整動態模型，文獻表明，這種系統可能會產生類似於倒單擺的不穩定持續振盪動態，因此論文提出了一種LQR控制方法，通過LQR控制器的設計來確保機車能夠達到自平衡穩定狀態，在模擬中確認了二輪車低速與靜態自平衡的可行性後，並在電動機車上進行實驗測試，結果證實，這種低重量的轉向自平衡系統能夠有效地保持機車在低速行駛的車身穩定性，論文還進行類靜平衡的實驗，結果顯示，以龍頭轉向力矩控制下，能夠有效將車身擺正至車身平衡位置，並在一段時間內可以短暫保持靜平衡的狀態。

This paper introduces an innovative motorcycle technology that utilizes front wheel steering torque control to adjust the scooter's roll angle, enabling stable self-balancing at low speeds and near-static conditions. This technology aims to enhance scooter riding safety and develop an assisted driving feature to prevent scooter tipping. While there are existing concepts of heavy-duty self-balancing scooter s abroad typically relying on gyroscopes and flywheels to stabilize scooter posture, these systems often compromise agility and maneuverability due to increased size and weight. Targeting Taiwan's popular scooter specifications, this paper proposes a self-balancing approach using front wheel steering torque control, requiring only the addition of a steering motor and a linkage mechanism at the handlebars. Compared to gyroscopic flywheel systems, this approach significantly reduces volume increase, making it more suitable for widespread adoption on regular scooters. The paper conducts an analysis of the dynamic performance and parameter characteristics of two-wheeled scooters, establishing comprehensive dynamic models with front wheel steering torque systems for both low-speed constant and variable speed models. Literature suggests that such systems may induce unstable sustained oscillatory dynamics similar to inverted pendulum behavior. Therefore, the paper proposes an LQR control method to ensure scooter stability and achieve self-balancing states. After confirming the feasibility of scooter self-balancing through simulations, practical installations were conducted, and experimental tests on electric scooter validated the effectiveness of this lightweight steering-based self-balancing system in maintaining vehicle stability at low speeds. Finally, experimental tests on actual motorcycles demonstrated near-static balance under steering torque control, effectively correcting vehicle posture to a balanced position and maintaining near-static equilibrium for a period.