請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/81964完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 王富正(Fu-Cheng Wang) | |
| dc.contributor.author | Yu-Hong Chen | en |
| dc.contributor.author | 陳餘泓 | zh_TW |
| dc.date.accessioned | 2022-11-25T05:33:14Z | - |
| dc.date.available | 2026-09-28 | |
| dc.date.copyright | 2021-11-02 | |
| dc.date.issued | 2021 | |
| dc.date.submitted | 2021-09-30 | |
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[34]Gu, Da-Wei; Petkov, Petko; Konstantinov, Mihail M Robust control design with MATLAB®. 2005: Springer Science Business Media. [35]王子家,智慧型倒單擺助行車之研發,碩士論文,機械工程學研究所,2017,國立臺灣大學. [36]HuskyLens AI Camera datasheet. Available online: https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336. [37]DW-1000 datasheet. Available online: https://www.decawave.com/sites/default/files/resources/dw1000-datasheet-v2.09.pdf. [38]Kinect V2 camera datasheet. Available online: https://docs.microsoft.com/en-us/previous-versions/?redirectedfrom=MSDN. [39]NUC5i7RYH datasheet. Available online: https://techreport.com/review/28332/intels-nuc5i7ryh-mini-pc-with-iris-graphics-reviewed/. [40]劉記豪,雙輪倒單擺助行車之多迴圈去耦合控制,碩士論文,機械工程學研究所, 2019,國立臺灣大學. [41]Force Sensing Resister datasheet. Available online: https://cdn-learn.adafruit.com/assets/assets/000/010/126/original/fsrguide.pdf. [42]Arduino Nano datasheet. Available online: https://www.arduino.cc/en/uploads/Main/ArduinoNanoManual23.pdf. 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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/81964 | - |
| dc.description.abstract | "本論文開發一套具有多功能之雙輪倒單擺(Two-Wheeled Inverted Pendulum, TWIP)系統，展示其跟隨、助行、電動車等功能。此系統具有兩種模式：雙輪倒單擺模式和使用者模式。 在雙輪倒單擺模式中，首先我們推導系統之數學模型，設計強韌控制器來控制雙輪倒單擺系統，以MATLAB Simulink進行模擬，最後將控制器安裝於微處理器進行實驗。實驗過程中，我們發現雙輪倒單擺系統在單迴圈架構下，能夠保持平衡卻不能達到精密定位，因此進一步提出三種多迴圈追跡控制架構，來達到穩定平衡以及定位功能，並透過追跡模擬與實驗，以性能指標量化數據比較三種控制架構之性能。 在使用者模式中，系統會由雙輪倒單擺模式轉換成助行模式或座椅模式，提供不同服務功能，包含主人跟隨、助行功能、電動車。在主人跟隨部分，首先我們比較不同感測器訊號量測與跟隨表現，並結合Kinect與UWB感測器優點進行感測器切換，讓助行車在不同情況下能夠達到更好的跟隨表現。在助行模式時，使用者可以藉由扶手壓力感測決定行走方向，並在使用者小腿上配戴穿戴式裝置，資料將透過無線通訊回傳主控微處理器，並對訊號作即時分析，若主人將發生傾倒，助行車會給予及時支撐以保護使用者安全。在座椅模式時，使用者可以透過摺疊機構展開踏板乘坐休息，並藉由搖桿進行方向控制，作為電動車使用，同時也可以作為載具使用來搬運物件。 " | zh_TW |
| dc.description.provenance | Made available in DSpace on 2022-11-25T05:33:14Z (GMT). No. of bitstreams: 1 U0001-2709202110595100.pdf: 6229438 bytes, checksum: c67af4c9e642a0aa912d95bfd744cd7c (MD5) Previous issue date: 2021 | en |
| dc.description.tableofcontents | 致謝 I 摘要 III Abstract V 目錄 VII 圖目錄 XI 表目錄 XVII 符號 XIX 縮寫 XXIX 第一章 序論 1 1.1研究動機 1 1.2文獻回顧 2 1.3章節摘要 5 第二章 倒單擺架構與模型推導 7 2.1系統架構 7 2.1.1 雙輪倒單擺架構 7 2.1.2 機構設計 8 2.2 動態模型推導 10 2.2.1模型推導(牛頓第二運動定律) 10 2.2.2模型推導(拉格朗日法) 13 2.3 線性化模型推導 14 2.4 Matlab軟體模型驗證 16 第三章 倒單擺硬體介紹 19 3.1 TWIP系統實驗架構介紹 19 3.2 處理器與感測器 20 3.2.1慣性感測元件 20 3.2.2 Arduino Due 微處理器 21 3.2.3 光學式編碼器 23 3.3 馬達系統 23 3.3.1 無刷直流馬達 23 3.3.2 馬達驅動器 24 第四章 控制器設計與多迴圈控制架構 25 4.1 PID控制 25 4.2 強韌控制 26 4.2.1 範數 27 4.2.2互質因式分解 28 4.2.3系統不確定性模型 29 4.2.4 間隙度量 31 4.2.5系統強韌性分析 32 4.2.6 H∞控制器設計 33 4.3 模型不確定性與間隙值 38 4.4 單迴圈控制 (平衡控制) 41 4.4.1 控制架構與控制器設計 41 4.4.2性能指標 42 4.4.3系統平衡模擬與實驗 43 4.5 PVB三迴圈控制(位置→速度→平衡) 46 4.5.1 控制架構與控制器設計 46 4.5.2系統平衡、追跡之模擬與實驗 53 4.6 PB雙迴圈控制 (位置→平衡) 57 4.6.1 控制架構與控制器設計 57 4.6.2系統平衡、追跡之模擬與實驗 61 4.7 VPB三迴圈控制 (速度→位置→平衡) 65 4.7.1 控制架構與控制器設計 65 4.7.2系統平衡、追跡之模擬與實驗 69 4.8追跡結果比較 73 第五章 跟隨感測器 75 5.1感測器系統介紹 75 5.1.1 Huskylens AI Camera 75 5.1.2超寬頻通訊模組 78 5.1.3 Kinect V2 Camera 80 5.2量測訊號驗證及比較 83 5.3跟隨比較 90 5.3.1四輪數學模型 90 5.3.2控制器設計 97 5.3.3實際跟隨 101 5.4感測器切換 111 第六章 助行車機構與功能設計 115 6.1助行模式 115 6.1.1方向控制 116 6.1.2速度補償 118 6.1.3穿戴式裝置 123 6.1.4傾倒步態偵測 125 6.1.5擬傾倒實驗 131 6.2座椅模式 133 6.2.1方向控制 134 6.2.2座椅 135 第七章 結論與未來展望 137 7.1論文總結 137 7.2未來展望 137 參考文獻 139 附錄A、規格表 142 附錄B、口試委員問題與回答 148 | |
| dc.language.iso | zh-TW | |
| dc.subject | 傾倒偵測 | zh_TW |
| dc.subject | 雙輪倒單擺 | zh_TW |
| dc.subject | 強韌控制 | zh_TW |
| dc.subject | 多迴圈控制架構比較 | zh_TW |
| dc.subject | Kinect | zh_TW |
| dc.subject | 超寬頻 | zh_TW |
| dc.subject | 助行車 | zh_TW |
| dc.subject | robust control | en |
| dc.subject | UWB | en |
| dc.subject | Kinect | en |
| dc.subject | multi-loop control structures | en |
| dc.subject | two-wheel inverted pendulum | en |
| dc.subject | fall detection | en |
| dc.subject | assistive walker | en |
| dc.title | 多功能雙輪倒單擺助行車之研發 | zh_TW |
| dc.title | Development of a Multi-Functional Assistive Walker Employing Two-Wheel Inverted Pendulum | en |
| dc.date.schoolyear | 109-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 蔡明祺(Hsin-Tsai Liu),顏家鈺(Chih-Yang Tseng),蘇偉儁 | |
| dc.subject.keyword | 雙輪倒單擺,強韌控制,多迴圈控制架構比較,Kinect,超寬頻,助行車,傾倒偵測, | zh_TW |
| dc.subject.keyword | two-wheel inverted pendulum,robust control,multi-loop control structures,Kinect,UWB,assistive walker,fall detection, | en |
| dc.relation.page | 151 | |
| dc.identifier.doi | 10.6342/NTU202103385 | |
| dc.rights.note | 同意授權(限校園內公開) | |
| dc.date.accepted | 2021-10-01 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| dc.date.embargo-lift | 2026-09-28 | - |
| 顯示於系所單位： | 機械工程學系 | |
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|---|---|---|---|
| U0001-2709202110595100.pdf 未授權公開取用 | 6.08 MB | Adobe PDF | 檢視/開啟 |
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