雙輪倒單擺車之設計與製作

• Main Author: 陳瑞源
• Other Authors: 蕭瑛星
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/05318531504249804656

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.