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研究生：	姜志易 Chiang, Chih-Yi
論文名稱：	FOC結合PI控制之自主開發室外移動機器人之研究設計與應用 Research design and application of self-developed outdoor mobile robot with FOC combined with PI control
指導教授：	王駿發 Wang, Jhing-Fa
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2023
畢業學年度：	111
語文別：	英文
論文頁數：	56
中文關鍵詞：	無人搬運車、自主移動機器人、機器人設計、磁場導向控制、PID控制
外文關鍵詞：	Automated Guided Vehicle, Autonomous Mobile Robot, Robot Design, FOC, PID
相關次數：	點閱：119 下載：0
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傳統的無人搬運車，需事先建置好軌道，缺乏彈性也會有定位精度不足或無法應付意外狀況的發生。隨著科技的進步無人搬運車逐漸演化成能獨立自主導航的自主移動機器人，這樣的特性能對應到工廠產線、物流、醫療，透過自主移動機器人代替人類執行重複性較高或是較危險的工作。

科技的發展加上近年來全球受到疫情的影響，因此人類的生活型態有了巨大的改變，自主移動機器人不再拘限於室內場域。在物流業提出了最後一哩路的想法，也就是透過室外自主移動機器人運送貨物到買家手中，這樣的物流方式可以大幅下降人與人之間的接觸，降低病毒傳播的風險。

自主移動機器人一直以來都相當昂貴，但現在的電子元件並不貴，本論文成功以低成本實作出室外移動機器人，實作出的室外移動機器人開發彈性更高，未來在開發功能時，也能夠更了解未來室外移動機器人能帶來的趨勢，為人類未來的生活帶來更多貢獻。

The traditional Automated Guided Vehicle (AGV) needs to build a track in advance, and lack of flexibility will result in insufficient positioning accuracy or inability to cope with unexpected situations. With the advancement of technology, unmanned vans have gradually evolved into Autonomous Mobile Robots (AMRs) that can navigate independently. Such features can correspond to factory production lines, logistics, and medical care. AMRs can replace humans to perform highly repetitive or dangerous tasks. Work.

With the development of science and technology and the impact of the global epidemic in recent years, human life has undergone tremendous changes, and autonomous mobile robots are no longer limited to indoor fields. In the logistics industry, the idea of the last mile has been proposed, which is to deliver goods to buyers through outdoor autonomous mobile robots. This logistics method can greatly reduce the contact between people and reduce the risk of virus transmission.

AMR has always been quite expensive, but the current electronic components are not expensive. This paper has successfully implemented an outdoor mobile robot at low cost. In the future, in the development of the functions of this outdoor autonomous mobile robot, we can also better understand the future outdoor mobile robots. The trend will bring more contributions to the future life of human beings.

中文摘要                             i
Abstract                             ii
Acknowledgements       iv
Contents                            v
List of Tables                    viii
List of Figures                   ix
Introduction        1
1 Background        1
2 Motivation        2
3 Design Objectives                         3
4 Dissertation Organization           4
Related Work                                     5
1 The Survey of Autonomous Mobile Robot                            5
2 The Survey of Tracked Outdoor Robot on the market        6
3 Designing an Outdoor Mobile Robot                                     8
3.1 Vehicle       9
3.2 Computing        10
3.3 Battery        11
3.4 Motor         11
3.5 Control method        13
3.6 Obstacle avoidance methods        15
Implement Outdoor Mobile Robot         17
1 System Overview        17
1.1 Hardware       18
1.2 Control system         18
1.3 Remote control         18
2 Hardware         18
2.1 Vehicle       18
2.2 Hardware circuit diagram         20
2.3 Hardware Module Introduction         21
2.4 Odrive       22
2.5 Encoder         24
2.6 Brake resistor        24
2.7 Teensy 4.1       25
2.8 Ground loop       25
2.9 Designing the Encoder Holder        27
3 Control system         27
3.1 Control System Architecture         27
3.2 Control flow        28
3.3 Proportional Integral Derivative control       29
3.4 PI Control in Control System         32
3.5 Field-oriented control         34
3.6 Communication        39
4 Parameters        39
4.1 Motor parameter definition         39
4.2 Gain Modulation         40
5 Remote control        42
Experimental Results         44
1 Experimental Environment        44
2 Braking resistor experiment         45
3 Mobile system stability experiment         46
4 Mobile experiments       47
Conclusions        51
1 Summary        51
2 Contributions         51
3 Future Works        52
References         54
                                    

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校內：2028-01-31公開
校外：2028-01-31公開電子論文尚未授權公開，紙本請查館藏目錄

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