Dissertations / Theses on the topic 'Self-balancing vehicle'

PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
Nesta dissertação, um transportador pessoal robótico auto-equilibrante (TPRE) foi desenvolvido, consistindo de uma plataforma com duas rodas que funciona a partir do equilíbrio do indivíduo que o utiliza, assemelhando-se ao funcionamento do clássico pêndulo invertido. Entre as características que o TPRE tem, podem-se destacar a rapidez na movimentação, o uso de um espaço reduzido, alta capacidade de carga, e capacidade de fazer curvas de raio nulo. Ao contrário de veículos motorizados tradicionais, o TPRE utiliza alimentação elétrica, portanto não gera emissões poluentes e, além disso, não contribui com poluição sonora. Para a locomoção, são utilizados dois motores de corrente contínua de potências entre 0,7HP e 1,6HP. Para medir o ângulo de inclinação e a velocidade da variação do ângulo de inclinação, é utilizado um acelerômetro de três eixos e um girômetro de um eixo. Para indicar a direção do TPRE, foi utilizado um potenciômetro deslizante. A modelagem dinâmica do sistema foi feita usando o método de Kane, utilizada posteriormente em simulações na plataforma Matlab. O controlador lê os sinais provenientes do acelerômetro, do girômetro e do potenciômetro deslizante, e envia o sinal de controle, em forma de PWM, a placas controladoras de velocidade dos motores, usando a linguagem eLua. Os algoritmos de controle desenvolvidos neste trabalho foram PID, Fuzzy e Robusto, tendo como variáveis de controle o erro e a velocidade da variação do erro do ângulo de inclinação. Experimentos demonstram que os controles Fuzzy e Robusto reduzem significativamente as oscilações do sistema em terrenos planos em relação ao PID. Verifica-se também uma maior estabilidade para terrenos irregulares ou inclinados.
A Self Balancing Personal Transporter (SBPT) is a robotic platform with two wheels that functions from the balance of the individual who uses it, resembling the operation of classic inverted pendulum. In this thesis, a SBPT is designed, built and controlled. Among the features from the developed SBPT, it can be mentioned: relatively high speeds, agility, compact aluminum structure, zero turn radius, and high load capacity, when compared to other SBPT in the market. Unlike traditional motor vehicles, the SBPT uses electric power, so there is no polluent emissions to the environment and no noise pollution. It is powered by two motors with output powers between 0.7HP and 1.6HP. To measure the tilt angle and its rate of change, a three-axis accelerometer and a gyroscope are used. The turning commands to the SBPT are sent through a potentiometer attached to the handle bars. The method of Kane is used to obtain the system dynamic equations, which are then used in Matlab simulations. The controller, programmed in eLua, reads the signals from the accelerometer, gyroscope and potentiometer slider, process them, and then sends PWM output signals to the speed controller of the drive motors. This thesis studies three control implementations: PID, Fuzzy and Robust Control. The control variables are the error and error variation of the tilt angle. It is found that the Fuzzy and Robust controls are more efficient than the PID to stabilize the system on inclined planes and on rough terrain.

Tato práce se zabývá návrhem nového řídícího systému, odolného proti chybám, pro nestabilní samo-balancující dvoukolové vozidlo typu Segway. Původní systém vozidla je podroben analýze rizikovosti jeho součástí a na základě výsledků jsou navržena opatření pro zvýšení jeho bezpečnosti. Je navržena nová topologie řídícího systému obsahující dvě samostatné řídící jednotky, redundantní senzoriku a voter. Pro řídící jednotky byl vyvinut software obsahující bezpečnostní algoritmy a mechanismy přepínání kontrolních výstupů. V práci jsou také představeny dva matematické modely vozidla různé složitosti, které jsou následně využity při HIL testování nově navrženého systému. Celý návrh byl proveden s využitím nástrojů pro Rapid Control Prototyping.

Táto práca sa zaoberá vývojom, testovaním a implementáciou adaptívneho riadiaceho systému pre dvojkolesové samobalancujúce vozidlo. Adaptácia parametrov vozidla sa uskutoční na základe parametrov vodiča. Parametre sústavy sa nemerajú priamo, ale sú odhadované na základe priebehu stavových premenných a odozvy sústavy. Medzi odhadované parametre patrí hmotnosť a poloha ťažiska vodiča. Cieľom práce je zabezpečiť adaptáciu jazdných vlastností vozidla k rôznym vodičom s rôznou hmotnosťou, kvôli zlepšeniu stability vozidla. Táto práca je pokračovaním predchádzajúcich projektov z roku 2011 a 2015.

碩士
聖約翰科技大學
電機工程系碩士班
99
In this thesis, a self-balancing fuzzy controller for the two wheeled carry vehicle is presented. From the opening condition of the vehicle, the fuzzy control rules were adapted and implemented in triangular membership function. And then used product inference engine to obtain the control effort of each fuzzy control rule. Finally the resulted control effort was synthesized by the center average defuzzification method. The aforementioned fuzzy controller was implemented in an embedded system which consists of Sunplustm spce061A and Altera EPM7128SLC84, furthermore the sensor and motor drive control system were also implemented in the embedded system. It provide a total solution for a two wheeled carry system. From the experimented results showed the propose fuzzy controller can achieve balancing control in normal operating condition.

碩士
遠東科技大學
機械工程研究所
105
In recent years, due to technological progress leads to environmental pollution and global warming and is becoming increasingly serious. In order to reduce this phenomenon, the demand of electrical vehicle is gradually increasing for transportation. Among all the electric type vehicles, one kind called the two-wheeled balancing vehicle is a pollution-free and convenient personal transportation. However, it takes a lot of efforts and attention for the driver to control the balance of the vehicle especially in the initial learning phase. The reason why such type of vehicle requires so much effort is that it requires the delicate simultaneous motors torque control to maintain the balance of the vehicle. However, such system characteristic will increases the burden of the driver as well as the control difficulty. Therefore, in order to improve the drawback of the traditional two wheel balancing robot designed, a novel design is proposed and studied in this thesis. The new type of active center of gravity to adjust the two wheel self balancing robot to replace the human center of gravity and maintain vehicle balance, first of all to calculate a new initiative with the center of gravity to adjust the two-wheel balance vehicle dynamic model design belongs to the study used in the controller, dynamic model itself determined by the nonlinear system after it must first be converted to a linear system to facilitate subsequent design, originally designed in the traditional smooth modal lead vehicle into a non chatter chatter formula cis Sliding state to solve the problem of vehicle flutter during walking and finally to simulate the actual way to test this study design The effectiveness of the control system. From the results of the study of the new design with the initiative to adjust the two wheel balancing robot is indeed the same as the general vehicles can drive and road, it will be able to significantly reduce the original two wheel balancing robot of the problems brought about by the original.

碩士
臺北市立大學
資訊科學系
105
Based on the merits of flexibility and small occupied volumes of two-wheeled self-balancing vehicles (TWSBV), some of the practicable applications are widespread in miscellaneous fields. In this thesis, by imposing adapting control on TWSBV with different transition states, we propose three kinds of fuzzy controllers with standing state, moving state and loaded state and further verify their efficiency. For the TWSBV can equip adaptive controller corresponding to the moving and the varying weight of carried goods, we involve a fuzzy rule base to controller design. Based on adapting control mechanism of fuzzy control, we can not only achieve the stability but also reduce the amplitude of shaking for different transition states of TWSBV. For fuzzy rules of the fuzzy control system, we use the experimentally measuring parameters to construct the required rules with membership functions, where there expects to attain that the transitions in different states including standing, moving, loaded-standing and loaded-moving, have good performance. To achieve fuzzy control on TWSBV, we then carry out the control algorithm in the platform and analyze the obtained results. By comparison, it show that the proposed method has better performance than the traditional PID controller during all transition states of standing balance, moving balance and loaded balance.

碩士
臺北市立大學
資訊科學系
104
In this research, we proposed a controller design method of the Two Wheeled Self-Balancing Vehicle (TWSBV) based on Fuzzy T-S Model (T-S Fuzzy) associated with genetic algorithm (GA). To achieve the stable controller of TWSBV, we used GA to properly seek for the feasible state feedback gains for the T-S Fuzzy controller, which is constructed by the heuristic experiment with two fuzzy membership functions of vehicle body angle and vehicle angular velocity to conquer some nonlinear parameters. With the convergent state feedback gains via GA, we can ensure the TWSBV has the better performances. Through analyzing the TWSBV impulse response characteristics produced from the state-space equation of TWSBV dynamic model, the system’s performance of the controllers can be evaluated. The fitness function of genetic algorithm is formulated by some performance indexes so that we can search for better state feedback gains. Furthermore, using GA’s ability of natural selection can reduce the tuning time of the satisfying state feedback gains. By the well-tuned state feedback gains, we thus can achieve a fuzzy model controller of the TWSBV system. The experimental simulation demonstrates that the proposed method has less balancing time and states’ oscillation, which mean that it indeed has better performance than others.

碩士
國立聯合大學
電子工程學系碩士班
105
The GPS guided autonomous vehicle seems to be more and more popular in recent years. Not only for military and science purposes, but also for civil use. There were many events which catched people’s eyes, for example, the Google’s self-driving car project(2009~) and the nuTonomy’s self-driving taxi(2016~). On the other hand, due to the booming of mobile device, the GPS related function has been built in almost every smartphone (or pad). That is to say, with a suitable app installed, your phone becomes a capable GPS navigation device. In some recent researches, the smartphone has become the core control device of autonomous vehicle. Based on this idea, we have implemented a GPS guided autonomous vehicle based on Self-balancing Scooter with the least effort on mechanical modification. Using the smartphone as the main control device, the autonomous vehicle have accomplished the dedicated function: automated parcel delivery in campus. Eventually, we hope to suggest a cost-effective approach for developing autonomous vehicle.

碩士
高苑科技大學
機械與自動化工程研究所
105
The analysis of the object is to do simulation analysis upper cover mold flow analysis of different cooling types for two-wheel self-balancing vehicle, the material we used is PIM CAE CAE-MIM-002 instead of MIM Catamold 316 LA in Moldex3D material library, so we used this material to discuss. Using PIM CAE CAE-MIM-002 to research packing, warpage, thermal stress and total displacement is this paper analysis. The Moldex3D simulation analysis can effectively predict a defect formed from material we choose, and reduce production cost, reduce production time and increase reliability.

碩士
高苑科技大學
機械與自動化工程研究所
105
The analysis of the object is to do simulation analysis lower cover mold flow analysis of different cooling types for two-wheel self-balancing vehicle, the material we used is PIM CAE CAE-MIM-002 instead of MIM Catamold 316 LA in Moldex3D material library, so we used this material to discuss. Using PIM CAE CAE-MIM-002 to research packing, warpage, thermal stress and total displacement is this paper analysis. The Moldex3D simulation analysis can effectively predict a defect formed from material we choose, and reduce production cost, reduce production time and increase reliability.

碩士
高苑科技大學
機械與自動化工程研究所
105
The analysis of the object is to do simulation analysis lower cover mold flow analysis of different cooling types for two-wheel self-balancing vehicle, the material we used is PIM CAE CAE-MIM-002 instead of MIM Catamold 316 LA and c218 V35 in Moldex3D material library, so we used this material to discuss. Using PIM CAE CAE-MIM-002 and C218 V35 to research packing, warpage, thermal stress and total displacement is this paper analysis. The Moldex3D simulation analysis can effectively predict a defect formed from material we choose, and reduce production cost, reduce production time and increase reliability.

碩士
高苑科技大學
機械與自動化工程研究所
105
ABSTRACT The analysis of the object is to do simulation analysis upper cover mold flow analysis of different cooling types for two-wheel self-balancing vehicle, the material we used is PIM CAE CAE-MIM-002 instead of MIM Catamold 316 LA and c218 V35 in Moldex3D material library, so we used this material to discuss. Using PIM CAE CAE-MIM-002 and C218 V35 to research packing, warpage, thermal stress and total displacement is this paper analysis. The Moldex3D simulation analysis can effectively predict a defect formed from material we choose, and reduce production cost, reduce production time and increase reliability.

碩士
國立宜蘭大學
機械與機電工程學系碩士班
107
The purpose of this study is to implement self-balancing of the two-wheeled vehicle via various controllers with the STM32 single-chip. In this study, the differences of the various control algorithm, and the advantages and disadvantages of which were discussed. The dynamic equations of the self-balancing vehicle were derived and estimated first, and then, the design of each controller and the hardware peripherals were introduced. The self-balancing vehicle’s body and the circuit boards are self-made. In order to eliminate the problems that are not related to the control when designing the controller, the signal processing was optimized by calibration, DMA (Direct Memory Access) and complementary filter. The experimental results reveal that the response didn’t achieve expectation with nonlinear system when using the traditional PID controller, and the fuzzy control could improve the balancing ability but the coupling controllability is insufficient. To resolve the lack of the control system above, Linear Quadratic Regulator (LQR) and Sliding Mode Control (SMC) are used. It is found that LQR and SMC have better performance for coupled systems, multi-variable systems and robustness of external interference. LQR can limit the custom performance index to a certain range, such as angle, vehicle displacement, and motor output. On the other hand, SMC can have two or more transient response characteristics for control system, and it is robust to the external interference bounded.

碩士
高苑科技大學
機械與自動化工程研究所
106
The analysis of the object is to do simulation analysis lower cover mold flow analysis of different cooling types for two-wheel self-balancing vehicle, the material we used is PA6 TECHNYL C218 V35 and PA6 TECHNYL C218 V50 in Moldex3D material library, so we used this material to discuss. Using PA6 TECHNYL C218 V35 and PA6 TECHNYL C218 V50 to research packing, warpage, thermal stress and total displacement is this paper analysis. The Moldex3D simulation analysis can effectively predict a defect formed from material we choose, and reduce production cost, reduce production time and increase reliability.

碩士
高苑科技大學
機械與自動化工程研究所
106
The analysis of the object is to do simulation analysis upper cover mold flow analysis of different cooling types for two-wheel self-balancing vehicle, the material we used is PA6 TECHNYL C218 V35 and PA6 TECHNYL C218 V50 in Moldex3D material library, so we used this material to discuss. Using PA6 TECHNYL C218 V35 and PA6 TECHNYL C218 V50 to research packing, warpage, thermal stress and total displacement is this paper analysis. The Moldex3D simulation analysis can effectively predict a defect formed from material we choose, and reduce production cost, reduce production time and increase reliability.

博士
國立中興大學
電機工程學系所
96
This dissertation develops techniques for system design, modeling and control of two personal human transportation vehicles, including one-wheeled and two-wheeled vehicles, which are constructed using common-tech commercial components including gyro scope, tilt sensor, motor driver, and digital signal processors (DSPs). The mechatronic structures for the vehicles are briefly described and their nonlinear and linearized mathematical models incorporating the fictions between the wheels and motion surface are derived. With decomposition of the two-wheeled transporter into two subsystems: the yaw motion subsystem and mobile inverted pendulum subsystem, classical control methods, adaptive control laws and nonlinear control strategies are proposed to maintain the inverted pendulum self-balancing and achieve the yaw motion control, where radial-basis-function neural networks (RBFNNs) are employed to approximate the friction forces and uncertainties. The close-loop stabilities of the proposed control laws are established utilizing the Lyapunov stability theory. The nonlinear mathematical modeling adaptive controls and nonlinear controls extend to an electric unicycle driven by one DC motor. The proposed methods are expected to be useful and powerful in keeping self-balancing and achieving consistent motion control performance for different riders. Numerical simulations and experimental results show that the proposed controllers are capable of giving satisfactory control actions to steer the transporters.