無人自行車運動控制之研究 鄭皓文、陳志鏗
E-mail: [email protected]
摘 要
本論文主旨在發展無人自行車平穩行駛控制系統的設計與實現技術。首先建立自行車動態資料量測系統，其包含的元件有 側傾角感知器、編碼器等，對自行車的側傾角、前叉轉向角度、車速等進行量測。無人自行車控制系統是以工業電腦作為 控制器的平台，使用PID控制理論作為控制器的主要核心，以側傾角的回朔訊號和參考信號比較後，再經由LabVIEW程式 中控制器的作動產生一電壓訊號，而對伺服馬達產生轉矩進而使自行車進行平穩行駛控制。設計以伺服馬達作為驅動器的 轉向機構，用來模擬騎士騎乘操控狀態。最後進行無人自行車操控實驗，本論文中所使用的資料擷取程式與控制法則程式
，皆使用虛擬儀控軟體LabVIEW所撰寫，在實驗上所得到之數據，可以驗證本論文所設計的系統與控制器的可行性。
關鍵詞 : 無人自行車 ; PID控制 ; 工業電腦
目錄
封面內頁 簽名頁 授權書 中文摘要 英文摘要 誌謝 目錄 圖目錄 表目錄 符號說明 第一章 緒論 1.1 前言 1.2 文獻回顧 1.3 研究 目的與本文架構 第二章 無人自行車系統元件與控制系統 2.1自行車硬體元件說明 2.2無人騎乘自行車控制機構與元件說明 第三章 PID控制理論與控制器之設計 3.1 PID控制背景與結構 3.2 PID控制原理和特點 3.3 控制器之設計 第四章 無人自行車 硬體控制實驗 4.1擷取車速訊號實驗 4.2自行車姿儀資料擷取實驗 4.3伺服馬達控制實驗 4.4無人自行車穩定行駛控制實驗 第 五章 結論與未來發展 5.1 未來發展 參考文獻
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