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研究生： 王大瑋
Wang, Dai-Wei
論文名稱： 利用陀螺儀的反作用力矩致動兩輪車之平衡控制
Balance Control of Two-Wheeled Vehicles by Using Reaction Torque of Gyroscopes
指導教授： 廖德祿
Liao, Teh-Lu
學位類別： 碩士
Master
系所名稱： 工學院 - 工程科學系
Department of Engineering Science
論文出版年： 2024
畢業學年度： 112
語文別： 中文
論文頁數： 70
中文關鍵詞： 控制力矩陀螺儀 、兩輪車平衡 、比例-積分-微分控制器
外文關鍵詞： Control Moment Gyroscopes, Two-Wheeled Vehicle Balance, PID Controller
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    • 自駕車一直是人類研發的重要項目，至今仍未能在一般道路上實現真正的「Level 5」自駕車。常見的自駕車以四輪轎車為主，少部分為兩輪車。然而，由於兩輪車在靜止時處於非穩態系統，對於複雜道路行駛的控制難度極大。因此，要使兩輪車在靜止時達到穩態，需要一個能產生作用力或改變重心的機構。
    本論文主要將研究兩輪車在靜止時的平衡控制問題。所研究的兩輪車結構為前後兩輪，而非左右兩輪，因此可視為倒單擺，物理模型的推導相對簡單。再者，採用飛輪來產生作用力，當飛輪高速旋轉時，施加力在飛輪上能產生90度方向的力矩。整體機構與控制器設計包括：飛輪框架、T型反向輸出軸、馬達位置之比例-積分-微分（Proportional-Integral-Derivative, PID）控制器設計及控制力矩陀螺儀之PID平衡控制器設計，並且使用ESP32微控制器來實現。

    Autonomous vehicles have always been a significant project in human development. However, achieving true autonomy, particularly at "level 5," on regular roads has remained elusive thus far. Most autonomous vehicles are four-wheeled sedans, with only a few two-wheeled exceptions due to the inherent instability of two-wheelers when stationary. This paper focuses on balancing two-wheeled vehicles at rest, employing a flywheel to generate force for stabilization. The design includes a flywheel frame, a T-shaped reverse output shaft, motor position PID (Proportional-Integral-Derivative) controller, and a gyroscopic PID balance controller, all implemented using the ESP32 microcontroller.

    摘要 I Extended Abstract II 致謝 XII 目錄 XIII 圖目錄 XV 表目錄 XVII 第一章 緒論 1 1.1 研究背景與動機 1 1.2 研究目的 2 1.3 章節摘要 2 第二章 文獻探討 4 2.1 兩輪車平衡方法 4 2.2 作用輪與陀螺儀 5 第三章 研究方法 6 3.1. 動態方程式 6 3.1.1 求出系統總動能 T 7 3.1.2 求出系統總位能 V 19 3.1.3 推導拉格朗日方程式 19 3.2. 機構設計 21 3.1.1 初代控制力矩陀螺儀實驗模型 21 3.1.2 一體化機構 22 3.1.3 飛輪結構 30 3.3. 控制器設計 31 3.4. 硬體電路 35 3.1.4 馬達及控制器 35 3.1.5 編碼器 37 3.1.6 ESP32控制器 37 3.1.7 姿態感應器 38 3.1.8 DAC模組 38 第四章 實驗結果與討論 39 4.1. 馬達定位實驗 39 4.2. 模組化設計實驗 42 4.3. 電動腳踏車平衡實驗 44 4.4. 兩輪車平衡實驗 45 第五章 結論與未來展望 48 5.1. 結論 48 5.2. 未來展望 48 參考文獻 49

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