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Dissertations / Theses on the topic 'Two-Wheeled Vehicles'
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Evangelou, Simos. "Control and stability analysis of two-wheeled road vehicles." Thesis, Imperial College London, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.407098.
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Gani, Mahbub Rahman. "The computer assisted modelling, simulation and analysis of two-wheeled road vehicles." Thesis, Imperial College London, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.322711.
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GRÖNING, ROBERT, and GUSTAV STEN. "Control of Leaning Dynamics for Three-wheeled Vehicles : Experimental evaluation of two control strategies." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-191209.
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Three‐wheelers are popular in fuel efficient contests but do not see much commercial success. This could be because three‐wheelers are easier to tip over than four wheeled vehicles. One way to counteract the tipping over is to introduce leaning dynamics on three‐wheeled vehicles so that they lean in corners like bicycles and motorcycles can. For this project a small radio‐controlled three‐wheeler was built with a mechanical system to handle the leaning dynamics for the front wheel pair. For the leaning control two different controllers were programmed to be compared, one relying on feedback from an accelerometer. The other calculates the desired angle based on a mechanical model with feedback from a potentiometer that measures the current leaning angle. These controllers where tested indoors on a smooth surface and outdoors on a rough surface to compare the two. Both controllers performed well indoors but the controller relying on feedback from the potentiometer was more stable than the one relying on the accelerometer. Testing outdoors on a rough surface amplified the differences. That test showed that the controller using an accelerometer was so unstable it barely could provide any leaning at all while the one using a potentiometer delivered very similar result as indoors. This was probably due to the accelerometers sensitivity to vibration. The controller using the accelerometer for feedback was slower and more unstable but can keep the vehicle leveled on leaning ground since it measures the actual acceleration the vehicle experiences. The controller using a potentiometer for feedback was faster and more stable but only uses the leaning dynamic while turning without taking other accelerations into account.Trehjulingar är populära i bränsleeffektivitetstävlingar men har inte sett mycket kommersiell framgång. Detta kan bero på att trehjulingar välter lättare än fyrhjulade fordon. Ett sätt att motverka vältningen är att introducera lutningsdynamik på trehjulingar så att de lutar in i kurvor som cyklar och motorcyklar. För det här projektet byggdes en liten radiostyrd trehjuling med ett mekaniskt system för att hantera lutningen med framhjulen. För att kontrollera lutningen designades två olika regulatorer för att jämföras, en som förlitar sig på feedback från en accelerometer och en som beräknar en vinkel enligt en mekanisk modell med feedback från en potentiometer som mäter fordonets nuvarande vinkel. Dessa regulatorer testades inomhus på en jämn yta och utomhus på en ojämn yta. Båda regulatorerna hade god prestanda inomhus men regulatorn som använde feedback från potentiometern var snabbare och mer stabil än regulatorn som använde accelerometern. Testen utomhus, på en ojämn yta, förstärkte skillnaderna mellan regulatorerna och visade att regulatorn som använder accelerometer var så instabil att den knappt kunde få trehjulingen att luta alls medan regulatorn som använde sig av potentiometern visade väldigt lika resultat som när den kördes inomhus. Det beror troligen på accelerometerns känslighet för vibrationer. Regulatorn som använde accelerometern var långsammare och mer instabil men kan hålla fordonet vågrätt på lutande mark eftersom den läser sann acceleration. Regulatorn som använde en beräknad vinkel och feedback från en potentiometer var snabbare och mer stabil men kan inte hålla fordonet vågrätt på lutande mark eftersom den inte tar hänsyn till den egentliga accelerationen.
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Taraborrelli, Luca. "Identification and improvement of the dynamic properties of the components of two-wheeled vehicles." Doctoral thesis, Università degli studi di Padova, 2016. http://hdl.handle.net/11577/3424770.
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Single track vehicles dynamic is a very complex topic that involves many different branches of the scientific knowledge, such as vibration mechanics, stability and control, materials science and biomechanics. Although the first studies on the stability of a single track vehicle were carried out at the end of the XIX century, the technological progress that has improved the properties of the employed materials and the craving for better performances oblige the scientific world to an everlasting research activity, carried out both on whole vehicles and on single components.
This Ph. D. thesis summarizes the research activities carried out at the Motorcycle Dynamics Research Group of the University of Padova and describes the tested mechanical components, the testing equipments, the experimental data, the elaboration criteria and the final results obtained after a three years work.
The experimental methodologies employed in order to carry out the research activities are presented in the first chapter. Both the hardware and the software of each experimental bench will be described. In addition, the theoretical principles on which the testing rigs are based and the principles with which it processes the output of the measuring sensors will be illustrated.
Subsequent chapters shift the focus on the results obtained on the various analyzed components. The second chapter presents the results of the tests carried out on motorcycles frames , with or without engine; the third chapter describes the results of the measurements made on motorcycles swingarms; the fourth chapter describes the results of tests performed on motorcycle front forks; the fifth chapter presents the results of tests conducted on front and rear motorcycle and scooter tires; shifting the attention to another type of two-wheeled vehicle, the sixth chapter presents the results of the tests carried out on bicycles and bicycle components. Finally, the seventh chapter describes the results of measurements conducted on tires typically used for wheelchairs.La dinamica dei veicoli a due ruote è un campo di studio molto complesso poiché interessa numerosi ambiti del sapere scientifico, dalla meccanica delle vibrazioni al controllo dei sistemi, dalla biomeccanica all’ingegneria dei materiali. Nonostante i primi studi siano stati condotti già sul finire del XIX secolo, il progresso tecnologico che negli anni ha stravolto la natura dei materiali utilizzati e il desiderio di prestazioni sempre più “al limite” impongono una incessante attività di ricerca, condotta sia su veicoli interi che su loro singoli componenti. Questa tesi di dottorato raccoglie le attività di ricerca condotte nel Motorcycle Dynamics Research Group dell’Università degli Studi di Padova, descrivendo i componenti meccanici analizzati, i banchi di misura, i dati sperimentali, i criteri di elaborazione e i risultati a cui si è arrivati in tre anni di lavoro. Nel primo capitolo sono descritte tutte le metodologie sperimentali che sono state adottate nel condurre le attività di ricerca in laboratorio. Per ogni banco di misura, verrà fornita una descrizione dei componenti fisici e dei programmi informatici. Inoltre, verranno descritti i principi teorici alla base del funzionamento del banco e i principi con cui si elaborano i dati in uscita dai sensori di misura. I successivi capitoli spostano l’attenzione sui risultati ottenuti sui vari componenti analizzati. Il secondo capitolo raccoglie i risultati dei test condotti su telai da motociclette, con e senza motore; il terzo capitolo descrive i risultati delle misurazioni effettuate su forcelloni di motociclette; il quarto capitolo descrive i risultati dei test condotti su forcelle anteriori da motocicletta; nel quinto capitolo sono presentati i risultati dei test condotti su pneumatici anteriori e posteriori di motocicletta e da scooter; spostando l’attenzione su un altro tipo di veicolo a due ruote, il sesto capitolo raccoglie i risultati dei test condotti su biciclette e su loro componenti. Per ultimo, il settimo capitoli descrive i risultati delle misure condotte su tipici pneumatici usati per sedie a rotelle.
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Gorges, Christian [Verfasser], Robert [Gutachter] Liebich, and Dieter [Gutachter] Schramm. "Identifying customer usage profiles of two-wheeled vehicles / Christian Gorges ; Gutachter: Robert Liebich, Dieter Schramm." Berlin : Technische Universität Berlin, 2018. http://d-nb.info/1174250941/34.
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Redman, Chad. "The Impact of Motorcycles on Air Quality and Climate Change: a Study on the Potential of Two-Wheeled Electric Vehicles." Scholarship @ Claremont, 2015. http://scholarship.claremont.edu/cmc_theses/1193.
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The auto industry produces a significant amount of air pollution the world over, and thereby contributes to climate change. As a major component within the auto industry, the motorcycle industry has a great responsibility to minimize its emissions. This study examines powered two wheelers (PTWs) in the European Union to assess the impact made by the motorcycle industry, and the potential for improvement. Reduction of air pollution would be possible by intensifying emissions regulations, which are much less stringent for PTWs than for light-duty vehicles such as passenger cars. However, a more comprehensive strategy to limit the motorcycle industry’s air pollution lies in the deployment of electric PTWs. The state of electric PTWs is not yet advanced enough to replace internal combustion motorcycles and mopeds, but they have achieved performance levels that demonstrates electric technology will soon make a significant impact on the motorcycle industry. Upon concluding that electric PTWs are viable and may soon become widely used, this study develops a framework to model the total air pollution created by the motorcycle industry, accounting for varying levels of electric PTW deployment.
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Lange, Joakim. "Development of front suspension for an electric two-wheeled amphibious vehicle." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175688.
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This master thesis is a part of a larger development project initiated at the department of Naval Architecture at KTH. The project goal is to design and manufacture a full scale proof-of-concept prototype of a electric powered two-wheeled amphibious vehicle. The focus of this thesis is the vehicle's front suspension system. In the present state, only a rough conceptual idea exist of the overall vehicle and its front suspension. The aim of this thesis is to analyze, evaluate and choose a suitable front suspension system and implement it into a detailed conceptual design. The rest of the vehicle is yet to be developed why the design boundaries for the front suspension are open-ended. This means that the design is likely to be revised in continued development. To deal with the open-ended boundaries a parameterized design is requested. An additional segment of the thesis is to produce parameterized development models used to derive the design. These models are considered as deliverables since they will be used when revising the front suspension for it to conform with the rest of the vehicle. With the information provided by the existing rough concept in terms of major components and vehicle architecture an estimation of the centre of gravity location have been carried out. This location enables a number of parameterized analytical models to be derived and utilized in the design of an optimized front suspension anti-dive geometry. The analytical models have been validated by creating a parametric ADAMS View model of the vehicle with a main purpose of simulating vehicle dynamics. The resulting design is a symmetric front swing arm suspension with a hub centre steering, torque arms and guide struts. An electric hub motor is also implemented in the wheel to provide tractive power in the front. The subsystem detailed conceptual design have been created in Solid Edge ST5 CAD software. Simplified finite element structural analysis in Ansys Workbench 14.0 is used to provide an initial estimate of the factor of safety for the parts. Because of the influence of the rest of the vehicle the proposed design delivered by this thesis is to be reviewed as a conceptual blueprint for the final front suspension. As there is no pre-existing design constraints from the rest of the vehicle the different subsystems are required to be parallel and iteratively developed due to their cross dependence.Examensarbetet som följer i denna rapport är en del i ett större utvecklingsprojekt som startades på KTH Marina System. Målet med projektet är att utveckla och tillverka en fullskalig prototyp av ett tvåhjuligt elektriskt framdrivet amfibiefordon. Examensarbetets fokus ligger på utvecklingen av fordonets framhjulsupphängning. I nuläget existerar endast en grov konceptuell idé över hela fordonet och dess framhjulupphängning. Målet med examensarbetet är att analysera, utvärdera och välja en passande lösning för främre hjulupphängningen och implementera i en detaljerad konceptuell konstruktion. Eftersom resten av fordonet ännu inte har utvecklats existerar inga direkta angränsande system för konstruktionen. Den föreslagna konstruktionen kommer därför med hög sannolikhet behöva revideras när utvecklingen av fordonet går framåt. För att underlätta ändringar ska konstruktionen vara parametriserad. En annan del av examensarbetet är att ta fram utvecklingsmodeller, även dom parametriserade, som kommer att nyttjas i konstruktionsarbetet. Modellerna anses också som leverabler eftersom de även kommer att användas när konstruktionen behöver revideras för att passa samman med resten av fordonet. Den information som återfinns i den konceptuella iden över fordonet användes för att ta fram en uppskattning för positionen av fordonets masscentrum. Med hjälp av denna position har ett antal parametriserade analytiska modeller tagits fram och använts för att konstruera en hjulupphängningsgeometri. Geometrin har optimerats för så kallade anti-dive egenskaper, egenskaper som förhindrar att fordonets nos dyker vid kraftiga inbromsningar. De analytiska modellerna har validerats genom att en parametriserad ADAMS View modell av fordonet har tagits fram. Den resulterande främre hjulupphängningen är en symmetrisk swingarm med navstyrning, momentarmar och styrlänkar. En elektrisk navmotor är implementerad i hjulet för att tillföra drivkraft till framvagnen. De olika delarna har skapats i Solid Edge ST5 CAD programvara och förenklade hållfasthetsanalyser har genomförts i Ansys Workbench 14.0. På grund av beroendet mot det resterande fordonet som konstruktionen lider av måste den anses som en konceptuell sammanställningsritning av den slutgiltiga framhjulupphängningen. Utan några förutbestämda konstruktionsavgränsningar från övriga system behöver komponenternautvecklas parallellt och iterativt.
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Badami, Madhav Govind. "A multiple-objectives approach to address motorized two-wheeled vehicle emissions in Delhi, India." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ61057.pdf.
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GHAHREMANI, Azadeh. "Modeling and comparison of different control strategies for a two wheeled self balancing vehicle." Doctoral thesis, Università degli studi di Bergamo, 2022. http://hdl.handle.net/10446/212688.
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Lo scopo di questa tesi è lo sviluppo di tecniche di controllo applicate al veicolo autobilanciante a due ruote.
L'obiettivo primario del controllore è il bilanciamento del veicolo attorno alla sua posizione di equilibrio instabile, nonché l'efficace risposta alle azioni di guida effettuate dal pilota.
In questi studi il modello matematico del veicolo è stato ricavato utilizzando due approcci differenti: le equazioni di Maggi e le equazioni di Lagrange con moltiplicatori indeterminati, sotto le
ipotesi di condizioni di puro rotolamento tra pneumatici e superficie stradale; tali condizioni
sono state in particolare espresse come vincoli non olonomi.
Assieme alla modellizzazione matematica, un prototipo virtuale che include la modellazione avanzata del contatto pneumatico-strada è stato sviluppato utilizzando MSC Adams, software dedicato alla simulazione multibody.
Diverse tipologie di strategie di controllo, classiche e moderne, sono state valutate. Queste includono:
Sliding Mode Control (SMC), controllo PID, linearizzazione esatta tramite retroazione, regolazione lineare-quadratica e posizionamento dei poli. Queste tecniche sono state applicate in particolare al sottosistema SIMO instabile e sotto-attuato che fa riferimento ai moti longitudinale e di beccheggio.
Le prestazioni di queste strategie di controllo sono validate e confrontate non solo attraverso simulazioni in Matlab, ma anche attraverso la cosimulazione Matlab/Adams del controllore e
del prototipo virtuale.
Anche se ciascuna tecnica di controllo presenta peculiari vantaggi e limitazioni, le attività di
simulazione suggeriscono che il controllore SMC offre prestazioni superiori per quanto riguarda il
bilanciamento del veicolo, fornendo al contempo una buona risposta relativa all'inseguimento della velocità longitudinale di riferimento. Un'analisi tramite metodo diretto di Lyapunov dimostra inoltre
che il regolatore SMC garantisce tempi di convergenza finiti a una superficie di sliding stabile.
Questi vantaggi sono però controbilanciati dalla complessità e dal gran numero di parametri che
caratterizzano la legge di controllo SMC, la determinazione dei quali può costituire un ostacolo
all'implementazione del regolatore.
Un altro sistema di controllo non lineare fondato sulla linearizzazione in feedback è perciò presentato
come alternativa.
La linearizzazione del modello matematico attorno al punto di equilibrio instabile
è stata effettuata al fine di permettere
l'uso di classiche tecniche di controllo quali la regolazione lineare-quadratica e il posizionamento dei poli del sistema. Questi controllori sono stati applicati sia per il bilanciamento che per la guida del veicolo.
Infine viene dimostrata la taratura empirica di un sistema di controllo basato su regolatori PID.
L'efficacia e la robustezza di ciascun controllore sono state valutate e confrontate attraverso la
simulazione Matlab e la cosimulazione Matlab/Adams di diversi scenari di guida.
La validazione sperimentale dei risultati delle simulazioni sarà oggetto di studi futuri
che si avvarranno su un prototipo in scala reale del veicolo, i cui componenti hardware e software sono all'interno di questa tesi discussi e testati in isolamento.The purpose of this research is the development of control techniques for the two wheeled self-balanced vehicle system. The control tasks involve balancing the vehicle around its unstable equilibrium configuration along with steering and velocity tracking in response to the driver actions. In this study, the mathematical dynamic model of the vehicle is derived using two different approaches: Maggi's equations and the Lagrangian function method, under the assumption of pure rolling, no-slip conditions which are expressed through nonholonomic constraint equations. Along with the mathematical desriptions, a multibody virtual prototype featuring advanced tire-ground interaction modelling has been developed using the MSC Adams software suite. Several different types of classical and modern control strategies are evaluated. These include Sliding Mode Control(SMC), PID, Feedback Linearization, Linear Quadratic Regulation(LQR), and Pole Placement for SIMO under-actuated subsystem. The capabilities of these control strategies are verified and compared not only through Matlab simulation, but also using Adams/Matlab co-simulation of the controller and the plant. Although every controller technique has its own advantages and limitations, the extensive simulation activities conducted for this study suggest that the SMC controller offers superior performances in keeping the system balanced while providing good velocity tracking responses. Moreover, a Lyapunov-based analysis is used to prove that the sliding mode control achieves finite time convergence to a stable sliding surface. These advantages are counterbalanced by the complexity and large number of parameters belonging to the designed SMC control laws, the scheduling of which can be difficult to implement. Therefore another non-linear control strategy, the direct feedback linearization method, is presented as an alternative. Through the Jacobian linearization approach the mathematical model of the system is linearized, allowing the use of control techniques such as linear quadratic regulation and pole placement, which are deployed to treat the balancing, steering and velocity tracking tasks. Finally the empirical tuning of a PID controller is also demonstrated. The performance and robustness of each controller is evaluated and compared through the simulation of several driving scenarios both in pure Matlab and in Matlab/Adams. The experimental validation of the simulation results will be performed in future studies on a full-scale physical prototype of the vehicle, whose hardware and software components are here described and tested in isolation.
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Almeshal, Abdullah. "Development and control of a novel-structure two-wheeled robotic vehicle manoeuvrable in different terrains." Thesis, University of Sheffield, 2013. http://etheses.whiterose.ac.uk/4885/.
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This thesis presents the development of a novel two-wheeled robotic vehicle with a movable payload and able to manoeuvre in different environments and terrains. The vehicle structure is based on the double inverted pendulum on cart mechanism. The system has five degrees of freedom that allow the vehicle to serve as a basis for new mobility solution applications. In this study, the vehicle model is derived mathematically using the Euler-Lagrange approach to describe the system dynamics. A hybrid fuzzy logic control approach is designed to stabilise and drive the vehicle on different terrains with different inclination angles. The Matlab Simulink environment is used to simulate the vehicle system. A hybrid spiral dynamic bacteria chemotaxis optimisation algorithm is used to optimise the control parameters to achieve the least mean square error of system response and to reduce the amount of exerted control effort. Various simulation scenarios are considered to demonstrate the vehicle’s ability to work on smooth and frictional surfaces. Disturbances are applied to the vehicle to evaluate the performance of the developed control system in coping with disturbances of variable amplitudes and durations. It is shown that the vehicle exhibits a stable response and a high degree of control robustness. A steering mechanism is implemented to drive the vehicle in different environments and terrains encountered in real life. Environment modelling has been incorporated into the vehicle system to simulate various ground types and levels of frictional forces. It is demonstrated that the vehicle is able to successfully manoeuvre in indoor and outdoor environments and on flat and sloped surfaces fulfilling the aims and objectives of the research.
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Inagaki, Shinkichi, Tatsuya Suzuki, and Takahiro Ito. "Design of man-machine cooperative nonholonomic two-wheeled vehicle based on impedance control and time-state control." IEEE, 2009. http://hdl.handle.net/2237/13978.
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Hrubý, Václav. "Design městského jednostopého vozidla na elektrický pohon." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-416658.
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The work deals with the design of an urban two-wheeled electric vehicle. The final product excels in simple shaping, a unique design solution and the possibility of tilting the saddle. Another interesting element is the possibility of extending the range using an additional battery or connecting to a mobile phone. With its features, the concept stands on the border of electric motorbikes, scooters and bicycles.
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Dobossy, Barnabás. "Odhad parametrů jezdce na vozítku segway a jejich použití pro optimalizaci řídícího algoritmu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-399406.
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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.
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Pereira, Bruno Luiz. "Aplicação de sistemas neuro-fuzzy e evolução diferencial na modelagem e controle de veículo de duas rodas." Universidade Federal de Uberlândia, 2017. http://dx.doi.org/10.14393/ufu.di.2017.46.
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CNPq - Conselho Nacional de Desenvolvimento Científico e TecnológicoEsse trabalho propõe a modelagem e o controle neuro-fuzzy aplicados na estabilidade estática de um veículo de duas rodas do tipo pêndulo invertido, utilizando como método de otimização a evolução diferencial. Durante a fase de modelagem, determinam-se as incertezas relacionadas aos parâmetros e também à resposta do modelo neuro-fuzzy. Verifica-se que este é capaz de se ajustar satisfatoriamente aos dados extraídos experimentalmente do veículo. Na determinação do controlador neuro-fuzzy, testam-se três estratégias de ajuste de parâmetros, sendo duas delas propostas neste texto, e os resultados são comparados entre si e aos obtidos através de controladores clássicos, e verifica-se experimentalmente e por meio de testes estatísticos que as abordagens propostas apresentam grande capacidade de adaptação às restrições impostas à planta, garantindo a estabilidade estática e a eficiência energética do sistema.
This work proposes the neuro-fuzzy modeling and control applied to the static stability of a two-wheeled inverted pendulum vehicle, using differential evolution as optimization technique. During the modeling phase, the uncertainties related to the parameters and also to the neuro-fuzzy model response are determined. It is possible to verify that the neuro-fuzzy system is capable of satisfactorily adjusts to the data experimentally extracted from the vehicle. In the determination of the neuro-fuzzy controller, three strategies of parameter adjustment are tested, two of them being proposed in this text, and the results are compared between them and those obtained through classical controllers, and it is verified experimentally and through tests that the proposed approaches present a great capacity to adapt to the constraints imposed on the plant, guaranteeing the static stability and the energy efficiency of the system.
Dissertação (Mestrado)
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Yang, Bean, and 楊斌. "On the Study of Stability of Two-wheeled Vehicles." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/86537896137600816685.
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碩士國立臺灣大學
機械工程學研究所
93
The study deals with the stability of two-wheeled vehicles. Firstly, the studies of two-wheeled vehicles in the past have been reviewed and organized. The Lagrange equation of motion is used to set up the dynamic equations of motion of two-wheeled vehicles. Then, a method of investigating the stability of two-wheeled vehicles is developed for all general two-wheeled models. Secondly, a quantitative analysis is applied to the various instability modes of a two-wheeled vehicle, and also, a qualitative analysis is used to find the relationship between the adjustments of design parameters of a two-wheeled vehicle and the instability modes. Finally, an optimum method, combining both weave mode and wobble mode, is purposed to pursuit a better parameter setting for stability of a two-wheeled vehicle. Following the method of this study, the stability of two-wheeled vehicles can be improved in the early stage of design.
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Karanam, Venkata Mangaraju. "Studies In The Dynamics Of Two And Three Wheeled Vehicles." Thesis, 2012. https://etd.iisc.ac.in/handle/2005/2561.
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Two and three-wheeled vehicles are being used in increasing numbers in many emerging countries. The dynamics of such vehicles are very different from those of cars and other means of transportation. This thesis deals with a study of the dynamics of a motorcycle and an extensively used three-wheeled vehicle, called an “auto-rickshaw” in India. The commercially available multi-body dynamics (MBD) software, ADAMS, is used to model both the vehicles and simulations are performed to obtain insight into their dynamics.
In the first part of the thesis, a study of the two wheeler dynamics is presented. A fairly detailed model of a light motorcycle with all the main sub-systems, such as the frame, front fork, shock absorbers , power train, brakes, front and rear wheel including tire slips and the rider is created in ADAMS-Motorcycle. The simulation results dealing with steering torques and angles for steady turns on a circular path are presented. From the simulation results and analytical models, it is shown that for path radius much greater than motorcycle wheel base, the steering torque and angle can be described by only two functions for each of the two variables. The first function is related to the lateral acceleration and can be determined numerically and the second function, in terms of the inverse of the path radius, is derived as an analytical approximation. Various tire and geometric parameters are varied in the ADAMS simulations and it is clearly shown that steady circular motion of a motorcycle can be reasonably approximated by only two curves–one for steering torque and one for steering angle.
In the second part of the thesis, a stability analysis of the three-wheeled “autorickshaw” is presented. The steering instability is one of the major problems of the “auto-rickshaw” and this is studied using a MBD model created in ADAMS-CAR .In an Initial model the frame ,steering column and rear-forks (trailing arms) are assumed to be rigid. A linear eigenvalue analysis, at different speeds, reveals a predominantly steering oscillation, called a “wobble” mode, with a frequency in the range of 5 to 6Hz. The analysis results show that the damping of this mode is small but positive up to the maximum speed(14m/s) of the three-wheeled vehicle. Experiments performed on the three-wheeled vehicle show that the mode is unstable at speeds below 8.33m/s and thus the experimental results do not agree with the model. Next, this wobble instability is studied with an analytical model, similar to the model proposed for wheel shimmy problem in aircrafts. The results of this model show that the wobble is stable at low speeds regardless of the magnitude of torsional stiffness of steering column. This is also not matching with the experimental result. A more refined MBD model with flexibility incorporated in the frame, steering column and the trailing arm is constructed. Simulation results with the refined model show three modes of steering oscillations. Two of these are found to be well damped and the third is found to be lightly damped with negative damping at low speeds, and the results of the model with the flexibility is shown to be matching reasonably well with the experimental results. Detailed simulations with flexibility of each body incorporated, one at a time, show that the flexibility in the steering column is the main contributor of the steering instability and the instability is similar to the wheel shimmy problem in aircrafts. Finally, studies of modal interaction on steering instabilities and parametric studies with payload and trail are presented.
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Karanam, Venkata Mangaraju. "Studies In The Dynamics Of Two And Three Wheeled Vehicles." Thesis, 2012. http://etd.iisc.ernet.in/handle/2005/2561.
Full textAbstract:
Two and three-wheeled vehicles are being used in increasing numbers in many emerging countries. The dynamics of such vehicles are very different from those of cars and other means of transportation. This thesis deals with a study of the dynamics of a motorcycle and an extensively used three-wheeled vehicle, called an “auto-rickshaw” in India. The commercially available multi-body dynamics (MBD) software, ADAMS, is used to model both the vehicles and simulations are performed to obtain insight into their dynamics.
In the first part of the thesis, a study of the two wheeler dynamics is presented. A fairly detailed model of a light motorcycle with all the main sub-systems, such as the frame, front fork, shock absorbers , power train, brakes, front and rear wheel including tire slips and the rider is created in ADAMS-Motorcycle. The simulation results dealing with steering torques and angles for steady turns on a circular path are presented. From the simulation results and analytical models, it is shown that for path radius much greater than motorcycle wheel base, the steering torque and angle can be described by only two functions for each of the two variables. The first function is related to the lateral acceleration and can be determined numerically and the second function, in terms of the inverse of the path radius, is derived as an analytical approximation. Various tire and geometric parameters are varied in the ADAMS simulations and it is clearly shown that steady circular motion of a motorcycle can be reasonably approximated by only two curves–one for steering torque and one for steering angle.
In the second part of the thesis, a stability analysis of the three-wheeled “autorickshaw” is presented. The steering instability is one of the major problems of the “auto-rickshaw” and this is studied using a MBD model created in ADAMS-CAR .In an Initial model the frame ,steering column and rear-forks (trailing arms) are assumed to be rigid. A linear eigenvalue analysis, at different speeds, reveals a predominantly steering oscillation, called a “wobble” mode, with a frequency in the range of 5 to 6Hz. The analysis results show that the damping of this mode is small but positive up to the maximum speed(14m/s) of the three-wheeled vehicle. Experiments performed on the three-wheeled vehicle show that the mode is unstable at speeds below 8.33m/s and thus the experimental results do not agree with the model. Next, this wobble instability is studied with an analytical model, similar to the model proposed for wheel shimmy problem in aircrafts. The results of this model show that the wobble is stable at low speeds regardless of the magnitude of torsional stiffness of steering column. This is also not matching with the experimental result. A more refined MBD model with flexibility incorporated in the frame, steering column and the trailing arm is constructed. Simulation results with the refined model show three modes of steering oscillations. Two of these are found to be well damped and the third is found to be lightly damped with negative damping at low speeds, and the results of the model with the flexibility is shown to be matching reasonably well with the experimental results. Detailed simulations with flexibility of each body incorporated, one at a time, show that the flexibility in the steering column is the main contributor of the steering instability and the instability is similar to the wheel shimmy problem in aircrafts. Finally, studies of modal interaction on steering instabilities and parametric studies with payload and trail are presented.
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Dian-Rong, Li, and 李典融. "Design and Implementation of Battery Monitoring System for Two-Wheeled Vehicles." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/71193468909491716205.
Full textAbstract:
碩士國立臺灣師範大學
應用電子科技學系
102
This thesis using the two-wheeled vehicle as an experimental platform constructs an intelligent system to monitor the power of the two-wheeled vehicle. Two-wheeled vehicle which has the characteristics of dynamic balance and uncertain loading weights is an inverted pendulum system. Because its fluctuations of voltage and current are violent, it is difficult to estimate the state of charge (SOC), and the surplus time and distance of operation correctly and efficiently. Therefore, this thesis mainly studies the power estimation of the two-wheeled vehicle. First of all, based on programmable electronic load and DC power supply, some experiments of charge and discharge are performed in the batteries of the two-wheeled vehicle. Using the experimental data finds the loss features of the batteries. Then, using back propagation neural network approximates the loss features of the batteries. Moreover, a voltage and current measuring model with bluetooth communication is built and integrated into the electric control system of the two-wheeled vehicle. Next, an algorithm to estimate the battery power of the two-wheeled vehicle is developed. Finally, the real experiment result shows that the proposed method is effective.
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Ku, Wei-Yueh, and 古韋曜. "Design of Model-free Sliding Mode Tracking Controllers for Two-wheeled Vehicles." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/647rvr.
Full textAbstract:
碩士國立臺灣海洋大學
電機工程學系
105
The goal of this thesis is to develop a model-free sliding mode control method for systems with unknown dynamic model. First, the dynamics of an unknown system is approximated by an ultra-local model constructed by using the input-output data. Based on the obtained ultra-local model, a sliding mode controller is designed to stabilize the unknown system. The proposed method is verified with simulations and experiments on a two-wheeled vehicle.
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Lin, Yu-Sheng, and 林裕勝. "Bacterial Foraging Fuzzy Controllers and Its Application Study in Control of Two-Wheeled Vehicles." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/50443605853871296346.
Full textAbstract:
碩士國立臺灣師範大學
應用電子科技研究所
101
This thesis focuses on adjusting the design of fuzzy control systems through a combination of the fuzzy control theory and the bacterial foraging algorithm. In addition, for a self-designed two wheeled vehicle, because of the reason that two-wheeled vehicle is unable to be self-balancing, a controller is required for forming a control system. The control system kernel is Megawin 82G516 single chip. The real-time data of angle and angular velocity are transmitted respectively from 3-axis accelerometer and gyroscope to the control kernel. Through the measurement amplifier processes analog signal, along with the construction of digital filter (Kalman filter) and fuzzy controller in the single chip, the control system kernel outputs a suitable pulse width modulation (PWM) to control the two-wheeled vehicles to go forward and backward, and even to make it self-balancing. The simulation results indicate that the two-wheeled unstable vehicle becomes stable immediately through the bacterial evolution. Moreover, the experiment results show that the two-wheeled vehicle with fuzzy bacterial evolution system can detect the gravity center of body such that the two-wheeled vehicle can move forward and backward.
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Chuang, Jhih-Kai, and 莊智凱. "The Study of Battery Energy Forecasting based on Neural Networks for Two-Wheeled Vehicles." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/98454706322754220407.
Full text
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Chen, Chen-Hao, and 陳振濠. "A Study of the Acceptance Model of Consumers Using Electric Two-wheeled Vehicles in Taiwan." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/2h2ebg.
Full textAbstract:
碩士元智大學
管理碩士在職專班
106
The performance of electric two-wheelers combined with 3C products also makes the development of electric two-wheeled vehicles not confined to the performance of vehicles, but to create more possibilities. Electric two-wheeled vehicles are facing a new era and facing a period of rapid growth. Therefore, products that are new and innovative, functional human-friendly, and vehicle comfort, controllability, performance, and other factors may all become the key to the success of the product. From the point of view of consumer use, in general, it is to understand the influencing factors of consumers' willingness to use, to correct or innovate to find the right product, and to formulate relevant programs for the product so as to increase consumer willingness to use. This study attempts to study the key factors affecting the behavioral intentions of consumers using electric two-wheeled vehicles through the Unified Theory of Acceptance and Use of Technology 2, UTAUT2, and hopes to explore the role of electric two-wheelers through empirical research. The relevant manufacturers provide specific suggestions and directions. The study found that social influences positively affect the behavioral intentions of using electric two-wheeled vehicles. Anxiety can negatively affect the behavioral intentions of using electric two-wheeled vehicles. Convenience conditions positively affect the behavioral intention of using electric two-wheeled vehicles. Performance expectations, expectations, use of scientific and technological attitudes, social influences, self-efficacy, convenience conditions, hedonic motivations, and other factors that affect the behavioral intentions of using electric bikes may be affected by gender. The impact of expectations, social influence, and convenience conditions on the intention to use electric bikes will be affected by age.
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Wang, Chih-Kai, and 王志凱. "Design and Implementation of a Balancing Controller for Two-wheeled Vehicles Using a Cost-Effective MCU." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/38922334540678419547.
Full textAbstract:
碩士聖約翰科技大學
電機工程系碩士班
97
In this thesis we present our first trial of developing a tiny-sized and low-cost self-balancing two-wheel vehicle where we mainly focus on design of the sensing and control board, balancing controller and the position synchronizing controller. With the considerations of cost-efficiency, we integrate the sensory systems and the balancing control systems by utilizing an embedded system based on the SUNPLUSTM SPCE061A EMU board and a CPLD, Altera EPM7128SLC84. There are three goals for our design. First, since the system is unstable in nature, it can be used as a teaching aid in the control-related courses to demonstrate the design of various control schemes. Second, motion with the self-balancing capability is novel and interesting and has potential to be a toy. In addition, this trial can provide a prototype to verify the techniques and allow the possibility for further development of a commercial two-wheel vehicle in the future.
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Li, Po-Wen, and 李博文. "Enhancement of Two-Wheeled Vehicle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/94f8fw.
Full textAbstract:
碩士元智大學
電機工程學系
104
Two-wheeled electric vehicles may probably encounter unexpected accident with operating time increased, in this context , the two-wheeled electric vehicle has the probability of losing control, causing serious damage to users or disasters occurring. To avoid such situation occurs, this thesis design a control system contains two hardware controllers. Usually, these two hardware controllers are both in operation, another enable wafer is used to determine which output signal is adopted. Main controller of two-wheeled electric vehicle is C8051F120 development board, deputy controller is W77E058A single wafer. These two controller are always in operation, the other enable wafer AT89S51 is used to monitor the output of the main controller. Under normal conditions, the main controller executes signal processing and output controlling, when the enable wafer senses the main controller disabled, it will switch the system mastership to the deputy controller and alert, so that the operator has sufficient time to travel the two-wheeled electric vehicle to a safe place, seeking for assistance. The main purpose of the deputy controller of the two-wheeled electric vehicle is designed for backup, so we use the W77E058A single chip for low cost. Therefore, the benefits of dual-core controller is to ensure both high performance at low cost and security. Overall, two-wheeled electric vehicle not only has good performance at flat ground, slopes, meadows and rugged terrain but also has low cost, high stability and high security, etc., it has reached the goal of commercialization.
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LEE, HUNG-JU, and 李泓儒. "Modular Concept on Two-wheeled Vehicle Design." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/38815536217573986453.
Full textAbstract:
碩士實踐大學
工業產品設計學系碩士班
104
This study focuses on discussing over future designs of two-wheeled motor vehicles from the perspective of modularization. As time goes by, a range of material processing and power system revolutions makes the vehicles get rid of the traditional styles and consumers are attaching increasing importance to the presentation of personalization and recreation in addition to product performance. This study probed into the history processes of double-wheeled vehicles and the advantages of modular product by discussing and arranging the literatures, and proposed the core values of design goals. Two kinds of electric two-wheel vehicles, namely “Modular Scooter Alpha+” and “Modular Competitive Two-wheel Balancing Car SR” are designed based on the concept of modularization along with different modular components to present different styles and performances, making it possible for single body to be diversified and personalized. The study independently discussed and integrated the components of vehicles of the design and the elements of an vehicle are classified into two parts, the “core car body” orienting at movement and the “modular suites” focusing on the presentation of performance and style, which makes it possible for quantity car bodies manufactured to show personal demands and style by virtue of different components. In addition, the designs are displaying by methods of 3d simulation diagram and scale model making, and the future outlook of the design herein will be determined by the feedback on the product from the interviews of vehicle design companies. From their feedback, we can safely conclude that the modular vehicles will definitely inspire a trend in the future. One of the major concerns involved is technology when it comes to actual mass production and safety; however, it’s worth expecting as a whole.
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Chang, Po-Hsiung, and 張博雄. "A Personal Mobile Vehicle with Two-Wheeled and Three-Wheeled Driving Modes." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/55878246149079190504.
Full textAbstract:
碩士國立高雄應用科技大學
機械與精密工程研究所
101
A novel personal mobile vehicle that has two different driving modes is developed in this study. The vehicle can be transformed from a coaxial two-wheeled car into a three-wheeled car by simply pressing a switch, and vice versa. When the car is driven in two-wheeled mode, PID controllers are utilized for velocity, direction, and balancing control. A three-wheeled car is intrinsic stable, but it is possibly to tip over when suddenly decelerated or accelerated. Thus, a simple control algorithm is proposed to prevent the three-wheeled car from tipping over. Finally, a series of experiments has been made for testing the prototype of the vehicle. The results show that it can be driven on even and uneven terrains by using the two driving modes. Besides, it can be driven to climb up and down the inclines of eight degrees easily and stably.
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Chung-Wei, Chen, and 陳崇煒. "Balancing and Positioning Control for Two-wheeled Vehicle." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/15963224099806945865.
Full textAbstract:
碩士國立屏東科技大學
車輛工程系所
100
The main purpose of this research is using the adaptive robust control to two-wheeled vehicle system, quickly achieve balancing and positioning then no longer shaking, the foremost balancing approach is to use the DC motor by input voltage or negative voltage is generated counterweight , can be effectively stabilized. In this research, use a second-order dynamic model to represent the two wheeled vehicle model dynamic response. When the adaptive robust controller design is accomplish, use the above derived the dynamic model to verify the feasibility of the controller. The results show that the designed controller can successfully control the body level angle and the moving displacement. If using the traditional XPC interface control will not in open space be able to experiment; In this research, using the DSP blocks as the control interface to two-wheeled vehicle, this ideal we can achieve stand alone, don't need for an external line, increase its usefulness and reliability.
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Chen, Chien-Chun, and 陳建淳. "Adaptive Fuzzy Control of Two-Wheeled Balancing Vehicle." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/01447670804662768277.
Full textAbstract:
碩士銘傳大學
電子工程學系碩士班
99
This thesis proposes an adaptive fuzzy controller to balance a constructed two-wheeled vehicle at upright position. The thesis is divided into three parts. At the first, the dynamical model of the two-wheeled vehicle-LEGO Mindstorms NXT is established. But the two-wheeled vehicle is a multi input and multi output (MIMO) nonlinear system. It will lead us too difficult to design fuzzy rules of fuzzy controller. Therefore, we combined all output errors of two-wheeled vehicle into one error by experience. At the second, based on the developed model of two-wheeled vehicle, an adaptive fuzzy is then illustrated. Adaptation laws for the proposed fuzzy controller are used to approximate an ideal controller. Adaptation laws are derived from the Lyapunov stability analysis, so that the system tracking performance and the error convergence can be assured in the closed-loop control system. Finally, we implement the proposed adaptive fuzzy controller and the Proportional Integral Derivative (PID) controller on the two-wheeled vehicle respectively which construct by LEGO Mindstorms NXT kits. Experiment result show that the performances of the proposed adaptive fuzzy controller are better than the PID controller.
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Huang, Hisn-Chih, and 黃信智. "Study of Intelligent Two-Wheeled Mobile Vehicle Control." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/92527682151230500855.
Full textAbstract:
碩士崑山科技大學
電機工程研究所
100
The aim of the thesis is to control a two-wheeled mobile vehicle to stand up and remain in the upright state by itself. The two-wheeled mobile vehicle can be used to bearer persons or goods. The present state depends on the vehicle sensor to drive two independent wheel speed and direction to maintain balance. The control core is DSP module of TMS320LF0247 for Two-wheeled mobile vehicle control. In control technology, the use of fuzzy neural network rule, discriminant analysis gyroscope output angular velocity and tilt output tilt angle to the motor for make the appropriate output correction. Two wheels are driven by the electronic differential controller to turn at desired direction. At last, the experiment result are revealed to demonstrate the feasibility of the proposed controller and show the performance of the laboratory-typed two-wheeled mobile vehicle.
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Shang-YunHsu and 徐上雲. "Reliability Design of Two-Wheeled Vehicle Parametersfor Driving Stability." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/99868072149139280380.
Full textAbstract:
碩士國立成功大學
機械工程學系碩博士班
98
This thesis presents a fully nonlinear and linearized two-wheeled vehicle model for stability investigation. A two-wheeled vehicle is naturally unstable. When a unstable motion occurs in high speed driving, it is beyond a rider's control. We present a two-wheeled vehicle with high speed stability based on optimization and reliability design methods. To cope with the complex dynamic properties of two-wheeled vehicles, we apply Lagrange’s equations to construct the mathematical model. To study the influence of vehicle geometry and mechanical properties on stability in detail, five bodies are used to compose the vehicle. With the two-wheeled vehicle model, stability and sensitivity analyses are conducted for three representative types of vehicle, namely, a bicycle, a scooter, and a motorcycle. The significant parameters corresponding to the most important unstable motions (weave and wobble) are identified. We focus on improving the stability performance in straight driving. The vehicle with optimized parameters has a significant improvement of stability. The influence of parameter uncertainty on stability is further studied by using the first order second moment (FOSM) and Monte Carlo simulation (MCS) methods. The MCS method is further employed in a reliability-based design optimization (RBDO) model for an accurate stability prediction. We expect that the RBDO method can be applied for two-wheeled vehicle design to avoid the unstable motions in high speed driving.
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Hong, Siang-Fu, and 洪祥富. "Two Wheeled Inverted Pendulum Vehicle Design and Stable Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/70799968638204874751.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
101
A two-wheeled inverted pendulum (TWIP) vehicle system is constructed. The control kernel is a microcontroller-ATmega328. The DC hub motor is employed for motion actuating and balancing. Both accelerometer and gyroscope sensors are used to measure the tilt angle and angular velocity of the inverted pendulum, respectively and two encoders are used to measure the rotation speed of motors. The H-bridge driver combined with bootstrap circuit is designed to drive the DC hub motor. The motion direction of TWIP can let change based on the signal of a handle bar on TWIP. Since the accurate dynamic model of this TWIP vehicle is difficult to establish, the model-free and robust fuzzy sliding model controller (FSMC) and proportional-derivative (PD) controller are chosen for controlling this system. Gray prediction model (GPM) is employed to predict the future state of the tilt angle and angular velocity. The experiment of results show that the GPM could improve the high frequency vibration situation and the FSMC and PD controller can successfully control the TWIP system motion stability .
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Chang, Chun-Chieh, and 張鈞傑. "Design and Implementation of Two-wheeled Vehicle Via Fuzzy Controller." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/33156725906685791591.
Full textAbstract:
碩士元智大學
電機工程學系
99
This thesis proposes an Proportional Fuzzy Controller (PFC) for two-wheeled vehicle control problem. The main purpose of this paper is to develop a self-balancing and motion control strategy. In this thesis, the sensors tilt and gyro are used to measure the two-wheeled vehicle angle and the angular velocity. In addition, the encoder is used to measure the two-wheeled vehicle position and velocity. The real-time two-wheeled vehicle information is selected for the inputs of controller. Finally, the two-wheeled vehicle achieves self-balance, position fixing, going forward and backward, making a turn, climbing up, stopping and something on experimental results. Experimental results show that the proposed Proportional fuzzy control strategy can control the whole system very well.
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Tsai, Ching-Hang, and 蔡青航. "System Design and Control of an Electric Two-Wheeled Robotic Vehicle." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/08069619569538804464.
Full textAbstract:
碩士國立中興大學
電機工程學系所
101
This thesis develops techniques for intelligent adaptive motion control and embedded implementation of an electric two-wheeled robotic vehicle using fuzzy wavelet neural networks (FWNN). With the nonlinear model of the vehicle, two kinds of intelligent adaptive motion controllers using FWNN are respectively proposed to achieve self-balancing, speed tracking and yaw motion control. The first intelligent adaptive controller aims to use FWNN to on-line learn the un-modeling errors and unknown or terrain-dependent frictions approximately, whereas the second one adopts FWNN to on-line mimic the function of the nonlinear controllers and works as a main controller. Simulation results are performed to verify the effectiveness and merits of the proposed intelligent adaptive motion controllers and both proposed controllers are shown to outperform existing controllers using fuzzy basis-function networks (FBFN). Both proposed controllers have been implemented into a digital signal controller using the single-chip DSP, TMS320F28335, from Texas Instrument. Experimental results confirm the applicability of the proposed controllers.
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Liu, Yen-Po, and 劉彥伯. "Toward the navigation and control of a two-wheeled autonomous vehicle." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/68851757995703478913.
Full textAbstract:
碩士國立清華大學
動力機械工程學系
94
In recent years, RFID (Radio Frequency IDentification) system has been widely used in service industry for identification. The RFID system is designed for inexpensive and reliable purpose in automatic identification. In addition, self-localization problem can be effectively solved by using RFID system. To achieve this goal, a two-wheeled autonomous vehicle is equipped with a RFID reader to communicate with RFID-tags, which are distributed in the environment. In this thesis, we propose a method to use sonar for obstacle avoidance and wall-following. In addition, we use the RFID system for self-localization to achieve the navigation and the control of a two-wheeled autonomous vehicle. Our experimental platform is based on the Linux operating system of an embedded industrial computer (Lincon 8000). We utilize C language to implement both the navigation system and the control system of this two-wheeled autonomous vehicle. By using the RFID self-localization technique, we demonstrate the navigation and the control systems on a two-wheeled autonomous vehicle effectively.
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Wu, Ying-Te, and 吳應德. "Development of a self-balancing controller for two wheeled carrying vehicle." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/31270856737946255250.
Full textAbstract:
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.
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Chen, Yu-ren, and 陳郁仁. "Study of Supervisory Fuzzy Neural Network Controller for Two-Wheeled Mobile Vehicle." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/88752686112500600953.
Full textAbstract:
碩士國立成功大學
工程科學系碩博士班
97
In this thesis, a two-wheeled mobile vehicle (TWMV) control system design and its mathematical model deriving are present. The TWMV is driven by the two independent wheels and all of its motion only depends on them. Iit can be used to transfer human or things. The mathematical model of the TWMV is derived by the Euler-Lagrange method in the thesis. Owing to the result, motion of the TWMV is a complicated and unstable system. In order to stabilize the TWMV and control, a supervisory fuzzy neural network controller(FNN) is proposed in the thesis. The supervisory FNN controller is composed of a supervisory controller and a FNN controller, and the parameters of the controller are tuning on-line automatically to overcome the disturbances and the parameter variations. By the proposed controller and the off-the-shelf parts, the laboratory-typed TWMV is constructed. At last, the simulations and experiment results are revealed to demonstrate the feasibility of the proposed controller and show the performance of the proposed laboratory-typed TWMV.
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Lu, Tianxiang. "Autonomous navigation for a two-wheeled unmanned ground vehicle: design and implementation." Thesis, 2020. http://hdl.handle.net/1828/12056.
Full textAbstract:
Unmanned ground vehicles (UGVs) have been widely used in many areas such as agriculture, mining, construction and military applications. This results from the fact that UGVs can not only be easily built and controlled, but also be featured with high mobility and handling hazardous situations in complex environments. Among the competences of UGVs, autonomous navigation is one of the most challenging problems. This is because that the success in achieving autonomous navigation depends on four factors: Perception, localization, cognition, and proper motion controller.
In this thesis, we introduce the realization of autonomous navigation for a two-wheeled differential ground robot under the robot operating system (ROS) environment from both the simulation and experimental perspectives. In Chapter 2, the simulation work is discussed. Firstly, the robot model is described in the unified robot description format (URDF)-based form and the working environment for the robot is simulated. Then we use the \textit{gmapping} package which is one of the packages integrating simultaneous localization and mapping (SLAM) algorithm to build the map of the working environment. In addition, ROS packages including \textit{tf}, \textit{move\_base}, \textit{amcl}, etc., are used to realize the autonomous navigation. Finally, simulation results show the feasibility and effectiveness of the autonomous navigation system for the two-wheeled UGV with the ability to avoid collisions with obstacles.
In Chapter 3, we introduce the experimental studies of implementing autonomous navigation for a two-wheeled UGV. The necessary hardware peripherals on the UGV to achieve autonomous navigation are given. The process of implementation in the experiment is similar to that in simulation, however, calibration of several devices is necessary to adapt the scenario in a practical environment. Additionally, a proportional-integral-derivative (PID) controller for the robot base is used to handle the external noise during the experiment. The experimental results demonstrate the success in the implementation of autonomous navigation for the UGV in practice.Graduate
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Wang, Xinqi. "Test platform design and control of a bicycle-type two-wheeled autonomous vehicle." Thesis, 2011. http://hdl.handle.net/10155/143.
Full textAbstract:
Bicycle dynamics and behaviors have been vastly studied through modeling and
simulation. Due to the complexity, software models are often assumed subjecting
to di erent nonholonomic constraints in order to simplify the models and control
algorithms. A real life autonomous bicycle faces perturbances from the road, wind,
tire deformation, slipping among other external forces. Limitations of simulations
will not always allow these to apply. All these issues make the autonomous bicycle
research very challenging.
To study the bicycle control problems a few research results from the literature
are reviewed. A nonlinear bicycle model was used to conduct control simulations.
Model based nonlinear controllers were applied to simulate the balance and path
tracking control. A PID controller is more practical to replace the non-linear controller
for the balance control. Simulation results of the di erent controllers are
compared in order to decide the proper control strategies on the hardware platform.
The controller design of the platform complies with practicality based on the hardware
con guration. Two control schemes are implemented on the test platform;
both are developed with PID algorithms. The rst scheme is a single PID control
loop in which the controller takes the roll angle feedback and balances the running
platform by means of steering. If the desired roll angle is zero the controller will try
to hold the platform at the upright position. If the desired roll angle is non-zero
the platform will be balanced at an equilibrium roll angle. A xed roll angle will
lead to a xed steering angle as the result of balance control. The second scheme
is directional control with balance consisting of two cascaded PID loops. Steering
is the only means to control balance and direction. To do so the desired roll angle
must be controlled to achieve the desired steering angle. The platform tilts to
the desired side and steering follows to the same side of the tilt; the platform can
then be lifted up by the centrifugal force and eventually balanced at an equilibrium
roll angle. The direction can be controlled using a controlled roll angle. Many implementation
issues have to be dealt with in order for the control algorithm to be
functional. Dynamic roll angle measurement is implemented with complementary
internal sensors (accelerometer and gyroscope). Directional information is obtained
through a yaw rate gyroscope which operates on the principle of resonance. To monitor
the speed of the platform, a rotational sensor was formed by using a hard drive
stepper motor attached to the axis of the vehicle's driving motor. The optoelectronic
circuit plays the vital role to ensure the system functionality by isolating the
electromagnetic noise from the motors. Finally, in order to collect runtime data, the
wireless communication is implemented through Bluetooth/RS232 serial interface.
The data is then plotted and analyzed with Matlab. Controller gains are tuned
through numerous road tests.
Field test results show that the research has successfully achieved the goal of
testing the low level control of autonomous bicycle. The developed algorithms are
able to balance the platform on semi-smooth surfaces.UOIT
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Wang, Jung-Chang, and 汪榮章. "Intelligent Algorithm Design by Using Fuzzy Inference on Two-Wheeled Self-Balancing Vehicle." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/jshf9f.
Full textAbstract:
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.
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Cao, Jia-Rui, and 曹家瑞. "Stabilizing Controller Design Using Fuzzy T-S Model on Two Wheeled Self-Balancing Vehicle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/75376825038740777417.
Full textAbstract:
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.
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Weng, Kai-Chun, and 翁楷鈞. "Intelligent Controller Design for Identification of Dynamic System and Implementation of Two-Wheeled Balancing Vehicle." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/2s9w5f.
Full textAbstract:
碩士元智大學
電機工程學系甲組
107
With the development of artificial intelligence,neuromorphic system is widely used to solve many engineering problems and has a profound impact. This thesis discusses the application of brain-imitated neural networks, which include the cerebellar mode articulation controller (CMAC), recurrent CMAC (RCMAC), brain emotional learning controller (BELC), integration of CMAC and BELC named as CMBE and recurrent CMBE (RCMBE) to dynamic system identification and two-wheeled balancing vehicle control. In the first example, the neural network works as the main controller, which has longer training time. In the second example, sliding mode control technique is applied and the neural network is used as an observer. The effectiveness of the observer is tested by applying the external disturbance. By comparing with other brain-imitated neural networks, RCMAC has the best learning ability and obtains enhanced performance results.
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Zhan, Guang-Mao, and 詹洸楙. "Using STM32 Chip to Implement Self-Balancing Control of Two-Wheeled Vehicle and Comparison of Various Control Algorithm." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/q99874.
Full textAbstract:
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.
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Vatterodt, Susanne. "Analyse der Verletzungen verunfallter motorisierter Zweiradfahrer unter besonderer Berücksichtigung Polytraumatisierter im Göttinger Polytraumaregister." Doctoral thesis, 2010. http://hdl.handle.net/11858/00-1735-0000-000D-F25B-2.
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