雙輪倒單擺車之設計與製作
碩士 === 國立彰化師範大學 === 電機工程學系 === 99 === ABSTRACT In recent decades many laboratories have investigated the auto-balancing robot which has gained people’s attention in the world. An inverted pendulum cart was designed in this thesis. Its mechanical structure is symmetric and its weight distribution is...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2010
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| Online Access: | http://ndltd.ncl.edu.tw/handle/05318531504249804656 |
| Summary: | 碩士 === 國立彰化師範大學 === 電機工程學系 === 99 === ABSTRACT
In recent decades many laboratories have investigated the auto-balancing robot
which has gained people’s attention in the world. An inverted pendulum cart was
designed in this thesis. Its mechanical structure is symmetric and its weight
distribution is uniform that satisfies the assumption conditions for modeling an
inverted pendulum cart. The state space equations of inverted pendulum cart are
used to analyze the motion of wheel and cart body. The cart’s model is used to
design the linear-quadratic regulator controller and the pole placement controller.
The simulation results not only evaluate balancing control, but also test and verify
the controller performance. The implementation of a physical inverted pendulum
cart is achieved by investigating the simulations of these two controllers. The LQR
is adopted to implement a controller for the two-wheel inverted pendulum cart.
The experimental results demostrate the possible of well-controlled inverted
pendulum cart with the capability of long time balance under no noise.
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