系統識別號 | U0002-3007202011555500 |
---|---|
DOI | 10.6846/TKU.2020.00914 |
論文名稱(中文) | 動態平衡移動機器人設計與實現 |
論文名稱(英文) | Design and Implementation of Dynamic Balancing Mobile Robots |
第三語言論文名稱 | |
校院名稱 | 淡江大學 |
系所名稱(中文) | 電機工程學系博士班 |
系所名稱(英文) | Department of Electrical and Computer Engineering |
外國學位學校名稱 | |
外國學位學院名稱 | |
外國學位研究所名稱 | |
學年度 | 108 |
學期 | 2 |
出版年 | 109 |
研究生(中文) | 高瑋甫 |
研究生(英文) | Wei-Fu Kao |
學號 | 805440137 |
學位類別 | 博士 |
語言別 | 英文 |
第二語言別 | |
口試日期 | 2020-07-10 |
論文頁數 | 95頁 |
口試委員 |
指導教授
-
許駿飛(fei@ee.tku.edu.tw)
委員 - 劉昭華 委員 - 邱謙松 委員 - 吳政郎 委員 - 莊鎮嘉 委員 - 呂藝光 委員 - 李祖添 |
關鍵字(中) |
移動機器人 智慧型控制 動態平衡控制 微控制器技術 |
關鍵字(英) |
mobile robot intelligent control dynamic balancing control microcontroller application |
第三語言關鍵字 | |
學科別分類 | |
中文摘要 |
本論文所考慮的動態平衡移動機器人有兩輪平衡移動機器人、兩輪平衡跳躍移動機器人、共線式麥輪平衡移動機器人與球輪平衡移動機器人等四種不同機構,整個動態平衡移動機器人不管在機構設計製作上或在控制器設計上均是複雜且困難的,非常適合學術研究且要開發很多相關的關鍵技術。相較於一般輪型移動機器人的設計與製作,由於平衡移動機器人具有不穩定、非線性以及欠致動性等特性,其兼具移動與平衡能力之控制器設計極具有挑戰性。本論文所製作的兩輪平衡移動機器人上加裝了機械雙手臂,更容易造成機器人重心位置改變影響平衡效果;兩輪平衡跳躍移動機器人上加裝了彈跳機構,可以提供機器人跳躍能力克服地形的限制;共線式麥輪車平衡移動機器人採用了四輪共線式麥克納姆輪設計,除了可以提供機器人動態平衡能力,更可以提供機器人側向移動能力;球輪平衡移動機器人採用了三個全向輪帶動圓球產生全方位的移動能力,可以隨時隨地的朝任一方向移動。在控制器設計方面,本論文基於多迴路控制架構設計方法,提出了智慧型平衡移動控制器來控制上述介紹的各種不同動態平衡移動機器人,其中雙迴路模糊控制器主要用來控制機器人可以前後移動至指定位置並保持機器人直立不倒,轉向控制器主要用來控制機器人可以左右旋轉至指定方向,並配合不同機器人機構設計搭配不同馬達力矩坐標轉換公式,將控制輸出量轉換成實際各馬達輸出量,進而改變機器人移動方向與速度。同時,由於所提出之智慧型平衡移動控制器並不需要太多的計算負擔,本論文進一步地結合微電腦單晶片技術,實際硬體實現所設計之智慧型平衡移動控制法則。最後,經由實驗結果可以發現所提出之智慧型平衡移動控制器,均可以有效地控制各種不同的平衡移動機器人,甚至當有系統參數變化或外力干擾下,依舊可以獲得不錯的機器人移動控制響應結果。 |
英文摘要 |
This thesis considers the design of the two-wheeled balancing mobile robot(TBMR), two-wheeled balancing and jumping mobile robot(TBJMR), collinear-Mecanum-wheeled balancing mobile robot(CBMR), and ball-wheeled balancing mobile robot(BBMR). These robot platforms are very suitable for academic research, because they are difficult to design regardless of the mechanism design and controller design. Compared to multi-wheeled mobile robot, the design and implementation of the balancing mobile robots is more difficult, complex, and challenging due to that its system dynamic is unstable, nonlinear, and under-actuated configuration. In this thesis, the TBMR is equipped with 4-DOF dual arms; however, the robot arm operation will affect the balancing control performance. The TBJMR is equipped with a jumping mechanism to help robots overcome the ground limitation. The CBMR uses four colinear Mecanum wheels, thus, the CBMR not only can provide dynamic balancing ability but also can provide the move sideway ability. The BBMR uses three omnidirectional wheels on a ball. It can directly move any direction. For the controller design, the objective of this thesis is to develop an intelligent balancing and motion control (IBMC) system for the TBMR, TBJMR, BBMR and CBMR systems based on fuzzy control approaches. The proposed IBMC system is comprised of a double-loop fuzzy controller and a turning controller, where the double-loop fuzzy controller can control the robots moving and reaching a desired position while keeping balanced. The turning controller enables the robots unlimited rotation along its vertical axis. Further, different torque conversion formulas are derived according to different robot mechanism design. It can convert the controller output to each motor control command. In additional, since computational load of the proposed IBMC method is moderate, an inexpensive microcontroller is used for hardware implementation. Finally, the experimental results show that the proposed IBMC system can successfully control the TBMR, TBJMR, CBMR and BBMR to achieve favorable control responses in the presence of system uncertainties and external disturbances. |
第三語言摘要 | |
論文目次 |
TABLE OF CONTENTS 摘要 I Abstract III Table of contents V List of figures VIII List of Tables X Chapter 1 Introduction 1 1.1 General Remark 1 1.2 Literature Review 2 1.3 Thesis Organization 4 Chapter 2 Design and Control of Two-Wheeled Balancing Mobile Robots 7 2.1 Introduction of TBMR 7 2.2 Description of TBMR 8 2.2.1 Dynamic model of TBMR 10 2.2.2 CoG analysis of TBMR 12 2.3 Control System Design for TBMR 18 2.4 Experimental Results 21 2.4.1 Result of full-state feedback control 21 2.4.2 Result of IBMC system 22 2.5 Conclusion 29 Chapter 3 Design and Control of Two-Wheeled Balancing and Jumping Mobile Robots 30 3.1 Introduction of TBJMR 30 3.2 Description of TBJMR 31 3.2.1 Dynamic model of TBJMR 34 3.3 Control System Design for TBJMR 37 3.4 Experimental Results 40 3.4.1 Result of full-state feedback control 41 3.4.2 Result of IBMC 41 3.5 Conclusion 42 Chapter 4 Design and Control of Collinear-Mecanum-Wheeled Balancing Mobile Robots 49 4.1 Introduction of CBMR 49 4.2 Description of CBMR 50 4.3 Control System Design for CBMR 56 4.4 Experimental Results 59 4.4.1 Result of full-state feedback control 59 4.4.2 Result of PD-PD control 60 4.4.3 Result of IBMC system 60 4.5 Conclusion 69 Chapter 5 Design and Control of Ball-Wheeled Balancing Mobile Robots 71 5.1 Introduction of BBMR 71 5.2 Description of BBMR 72 5.2.1 Dynamic model of BBMR 74 5.2.2 Coordinate transformation of BBMR 76 5.3 Control System Design for BBMR 78 5.4 Experimental Results 81 5.4.1 Result of IBMC System 81 5.5 Conclusion 82 Chapter 6 Conclusions and Suggestions 84 6.1 Conclusions 84 6.2 Suggestions for Future Research 84 References 86 Publication List 95 LIST OF FIGURES Figure 2.1 The proposed TBMR. 9 Figure 2.2 System structure of TBMR. 10 Figure 2.3 Coordinate system of TBMR. 11 Figure 2.4 4-DOF dual arms 15 Figure 2.5 Detail view of the joint in the left hand. 15 Figure 2.6 The control system block diagram for TBMR. 20 Figure 2.7 Membership functions of fuzzy labels. 21 Figure 2.8 Experimental results of full-state feedback control for Scenario 1. 23 Figure 2.9 Experimental results of full-state feedback control for Scenario 2. 24 Figure 2.10 Experimental results of IBMC without CoG supervisor for Scenario 1. 25 Figure 2.11 Experimental results of IBMC without CoG supervisor for Scenario2. 26 Figure 2.12 Experimental results of IBMC with CoG supervisor for Scenario 1. 27 Figure 2.13 Experimental results of IBMC with CoG supervisor for Scenario 2. 28 Figure 3.1 The proposed TBJMR. 32 Figure 3.2 System structure of TBJMR. 34 Figure 3.3 Three stages during a jump. 34 Figure 3.4 Schematic diagram of the IBJMR model. 35 Figure 3.5 The control system block diagram for TBJMR. 37 Figure 3.6 Membership functions of fuzzy labels. 39 Figure 3.7 The sequence diagram of Scenario 2. 40 Figure 3.8 Experimental results of full-state feedback control for Scenario 1. 43 Figure 3.9 Experimental results of full-state feedback control for Scenario 2. 44 Figure 3.10 Experimental results of full-state feedback control for Scenario 3. 45 Figure 3.11 Experimental results of IBMC for Scenario 1. 46 Figure 3.12 Experimental results of IBMC for Scenario 2. 47 Figure 3.13 Experimental results of IBMC for Scenario 3. 48 Figure 4.1 The proposed CMBR. 51 Figure 4.2 System structure of CBMR. 52 Figure 4.3 Detail view of the collinear Mecanum wheels. 53 Figure 4.4 Relationship between the four motors and the CBMR. 55 Figure 4.5 Coordinate system of CBMR. 55 Figure 4.6 The control system block diagram for CBMR. 58 Figure 4.7 Membership function of fuzzy labels. 59 Figure 4.8 Experimental results of full-state feedback control for Scenario 1. 61 Figure 4.9 Experimental results of full-state feedback control for Scenario 2. 62 Figure 4.10 Experimental results of full-state feedback control for Scenario 3. 63 Figure 4.11 Experimental results of PD-PD control for Scenario 1. 64 Figure 4.12 Experimental results of PD-PD control for Scenario 2. 65 Figure 4.13 Experimental results of PD-PD control for Scenario 3. 66 Figure 4.14 Experimental results of IBMC control for Scenario 1. 67 Figure 4.15 Experimental results of IBMC control for Scenario 2. 68 Figure 4.16 Experimental results of IBMC control for Scenario 3. 69 Figure 5.1 The proposed BBMR. 73 Figure 5.2 System structure of BBMR. 74 Figure 5.3 Coordinate system of BBMR. 76 Figure 5.4 Relationship between the three motors and the BBMR. 77 Figure 5.5 Motor configuration diagram. 78 Figure 5.6 The proposed control system block diagram for BBMR. 80 Figure 5.7 Membership functions of fuzzy labels. 81 Figure 5.8 Experimental results of IBMC for Scenario 1. 82 Figure 5.9 Experimental results of IBMC for Scenario 2. 82 Figure 5.10 Experimental results of IBMC for Scenario 3. 82 LIST OF TABLES Table 2.1 System specification of TBMR. 9 Table 2.2 The D-H parameters of 4-FOD dual arms. 16 Table 2.3 Simulation results of CoG position. 17 Table 2.4 Fuzzy rules for position outer-loop controller. 20 Table 2.5 Fuzzy rules for turning controller. 20 Table 2.6 Fuzzy rules for CoG supervising controller. 20 Table 3.1 System specification of TBJMR. 33 Table 3.2 Fuzzy rules for position outer-loop controller. 39 Table 4.1 System specification of CBMR. 52 Table 4.2 Fuzzy rules for position outer-loop controller. 58 Table 4.3 Fuzzy rules for sideway controller. 58 Table 5.1 System specification of BBMR. 74 Table 5.2 Fuzzy rules for position outer-loop controller. 80 |
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