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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/64201完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 林沛群 | |
| dc.contributor.author | Wei-Shun Yu | en |
| dc.contributor.author | 游崴舜 | zh_TW |
| dc.date.accessioned | 2021-06-16T17:34:36Z | - |
| dc.date.available | 2017-08-27 | |
| dc.date.copyright | 2012-08-27 | |
| dc.date.issued | 2012 | |
| dc.date.submitted | 2012-08-15 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/64201 | - |
| dc.description.abstract | 本論文主要以中小型移動機器人開發為起頭，以 National Instrument 的即時
控制核心為主，開發機器人所需的通用週邊電路，以搭配獨立的電源轉換為驅動 中小型機器人的所需電源，配合上常見的直流馬達驅動板和其餘主要週邊電路來 達成完全自主的移動，並應用於各式機器人上驗證其可用性。在經過測試後進行 簡化與教育用品化的改板。同時與常見的輪型機器人作結合，針對雙輪自主平衡 機器人作主要的研究，藉由動態模型的推導設計出可以穩定行走的控制法則，並 針對輪型平衡的雙輪機器人，推導在雙輪平衡狀態下增加傾斜自由度的動態影 響。而為了可以達到良好的回授效果，使用卡爾曼濾波器進行陀螺儀與傾斜儀的 訊號融合進行身體角度的狀態估測。最後將所設計通用機器人機電系統用於雙輪 可傾式機器人上，驗證前面所推導的動態模型，使用狀態估測器作回授所得到的 控制效果。最後總結所有的研究成果，分析達成的目標以及未來可以改進以及深 入探究的方向。 | zh_TW |
| dc.description.abstract | In this thesis, we develop a general mechatronic system for mobile robot, based on National Instrument real-timed control core. The generalized infrastructure of robotic mechatronics consists chiefly of three parts, power board, breakout board and DC motor driver board. It's able to achieve complete independent moving by independent power supply. We verify its feasibility by applying it to different type robot, and revise it to a teaching aids version. Meanwhile, we use the general
mechatronic system on a tiltable two-wheeled mobile robot. By studying the dynamic model of the tiltable 2-wheeled robot, we design a simple control law to keep it on balance moving. Besides, we find the relation between moving and tilt degree of freedom. Better feedback signals for balance moving is estimated by fusing the signal of gyroscope and inclinometer with Kalman filter. We find out a way for stable turning mode by changing the tilt angle from experiment. Finally, some suggestion about how to improve the model of the tilt DOF and balancing ability is discussed. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T17:34:36Z (GMT). No. of bitstreams: 1 ntu-101-R99522806-1.pdf: 7478951 bytes, checksum: 71af0577b5fcf5c1f497928ff7d78b74 (MD5) Previous issue date: 2012 | en |
| dc.description.tableofcontents | 誌謝 I
摘要 II Abstract III 目錄 IV 圖目錄 VI 表目錄 IX 第一章 緒論 1 1.1前言 1 1.2研究動機 2 1.3文獻回顧 3 1.4貢獻 9 1.5論文架構 10 第二章 通用機電系統設計 11 2.1前言 11 2.2控制核心規格與電路需求 11 2.3電壓轉換分配板 15 2.4單軸馬達電路模組 19 2.5訊號分配板 24 2.6實際測試 29 2.7通用傳輸訊號與教育用品化改板 32 2.8本章結論 40 第三章 雙輪平衡與傾斜理論 41 3.1前言 41 3.2雙輪平衡動力模型推導 41 3.3平衡控制理論與模擬 46 3.4雙輪傾斜動力模型推導 50 3.5傾斜控制理論與模擬 56 3.6車身姿態即時量測與測程法 61 3.7本章結論 69 第四章 實驗結果與討論 70 4.1前言 70 4.2實驗平台架構 70 4.3實驗平台狀態估測 77 4.4平衡控制測試與測程法驗證 81 4.5傾斜控制測試 86 4.6討論 96 第五章 結論與未來展望 97 5.1結論 97 5.2未來展望 97 參考文獻 99 | |
| dc.language.iso | zh-TW | |
| dc.title | 可側傾雙輪機器人之運動控制與其內部機器人泛用機電系統架構 | zh_TW |
| dc.title | Motion control in a tiltable two-wheel robot with generalized infrastructure of robotic mechatronics | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 100-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 黃光裕,王富正 | |
| dc.subject.keyword | 機器人通用機電系統,教育用品,可側傾雙輪機器人,動態模型,卡爾曼濾波器, | zh_TW |
| dc.subject.keyword | mobile robot general mechatronic system,teaching aids,tiltable two wheeled robot,dynamic model,kalman filter, | en |
| dc.relation.page | 102 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2012-08-15 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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