Research of System Design and Stability Control Experiments of Riderless Bicycle 揚可農、陳志鏗
E-mail: [email protected]
ABSTRACT
This thesis is focused on designing and realizing the balancing control system of a riderless bicycle. The control system of the riderless bicycle is based on the steering control system and speed control system that are implemented by an industrial personal computer (IPC) and a fuzzy controller. A data measurement system for riding condition of the bicycle is developed, including the measuring the roll angle of the bicycle, the steering angle of the front fork, and the bike speed. These data are provided to the controller implementing the calculation. At last, the steering control system driven by a servomotor is designed to simulate the steering control of the rider. The data acquisition program and the control program used are written by LabVIEW. The experimental data are used to show the feasibility of the proposed system and controller.
Keywords : Riderless Bicycle ; Fuzzy Control ; IPC
Table of Contents
封面內頁 簽名頁 授權書... iii 中文摘要... iv 英文摘要... v 誌 謝... vi 目錄... vii 圖目錄... ix 表目
錄... xii 符號說明... xiii 第一章 緒論... 1 1.1 前
言... 1 1.2 文獻回顧... 1 1.3 研究目的與本文架構... 3 第二章 機構原件與控 制系統... 5 2.1 自行車硬體元件說明... 5 2.2 無人騎乘自行車控制機構與元件說明... 11 第三章 控 制理論與控制器之設計... 28 3.1 模糊控制理論... 28 3.2 控制器之設計... 30 3.3 自行車 穩定行駛控制器之模糊控制規則... 33 第四章 硬體控制系統... 39 4.1 車速控制實驗... 39 4.2 自行車姿儀資料擷取實驗... 43 4.3 伺服馬達控制實驗... 48 第五章 結論... 57 5.1 未 來展望... 57 參考文獻... 59
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