近年來，由於兩輪自平衡車的靈活移動性與無污染，使得兩輪自平衡車漸受市場注目，成為短距離代步車之新選擇。同軸兩輪車為一天生不穩定之非極小相位系統，透過迴授控制使其具有自平衡能力，因此新的兩輪自平衡車控制技術不斷的被研究；此外，由於使用者騎乘其中，若控制過程出現故障無法即時檢測，使用者將會有摔下兩輪自平衡車的危險，因此平衡控制與故障診斷為兩輪自平衡車之重要議題，基於此理由，本論文致力於研究兩輪自平衡車之操縱控制與故障診斷技術。
在兩輪自平衡車之控制技術上，本論文詳細分析同軸兩輪車之系統建模，並提出一種簡易且有效的兩輪自平衡車操縱控制，此技術包含平衡控制器與電子差速器演算法則，允許使用者遠端遙控兩輪自平衡車之運行。在感測器故障檢測方面，本論文使用 迴路整型技術，建構強健平衡控制器，並採用正規化互質分解法則，設計故障偵測濾波器，偵測兩輪自平衡車之迴授感測器可能發生的故障。在致動器故障檢測方面，本論文利用PI估測器架構提出故障診斷策略，此方法可偵測致動器上可能發生的故障與不正常操控。獲得系統之故障資訊後，本論文利用統計理論提出具可靠度之閾值選定法則，提出對應之故障評估策略，此故障評估設定法則即時的警示騎乘者避免可能之危險，進一步增進騎乘兩輪自平衡車之安全性。實驗結果顯示，本論文所提出之操縱控制與故障診斷策略，對於提升兩輪自平衡車之操縱與安全，具可行性與實用性。

Since the beginning of the new millennium, the auto-balancing two-wheeled cart (ABTWC) has become more and more popular due to its responsive yet precise movement and pollution-free. This dissertation is devoted to investigating both the pilot control and fault diagnosis technologies for an ABTWC which is inherently unstable and has a non-minimum phase.
In this dissertation, we present a pilot control algorithm, which converts two joysticks’ commands into two torque directives for movement. This technique allows the user to operate the ABTWC linearly for both motion and orientation control via a joystick. Also, the dynamics modeling and corresponding system phenomena of the ABTWC are discussed. Since a human being is involved in the operation of an ABTWC, the rider faces the danger of being injured in a fall if any system failure occurs. Therefore, the rider should be warned immediately when any system failure develops, ensuring that proper action can be taken to avoid a dangerous accident. The sensor fault-detection technology for the ABTWC is proposed in this dissertation. A model-based fault-detection filter is designed to detect sensor faults. The observer gain obtained by solving an algebraic Riccati equation in the normalized coprime factorization approach offers some design convenience associated with the fault diagnosis filter. The actuator fault-detection is also investigated. This dissertation employs a PI observer to detect abnormal information in an ABTWC caused by actuator faults and steering load-torques. In order to promptly alert the rider for safety purposes in the event of a malfunction, the decision-making process to identify a critical failure is investigated. A statistical threshold that has the benefits of improving decision-making reliability is investigated for diagnosing a possible abnormal operation and/or a serious system malfunction. The experimental results substantiate that the proposed pilot control and fault diagnosis strategies have the ability, in practice, to improve the ABTWC’s mobility and safety.

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