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Title page for etd-0830111-133544


URN etd-0830111-133544 Statistics This thesis had been viewed 1243 times. Download 0 times.
Author Yun-Feng Hsiao
Author's Email Address No Public.
Department Electrical Engineering
Year 2010 Semester 2
Degree Master Type of Document Master's Thesis
Language English Page Count 39
Title BALANCE CONTROL OF AN ELECTRICAL BICYCLE BY POSTURE CONTROLLER AND LATERAL VELOCITY CONTROLLER
Keyword
  • BICYCLE
  • BALANCE
  • BALANCE
  • BICYCLE
  • Abstract In this thesis, we propose two strategies to stabilize bicycle balance and trajectory control on an unmanned electrical bicycle (e-bicycle): one is a posture controller, and the other is a lateral velocity controller. The former is used to stabilize the bicycle, the other is controlled on straight-line tracking. In order to achieve this objective, we modified the bicycle. An in-wheel brushless motor is installed in the rear wheel for going-forward control and a servomotor is on the saddle seat post steers for handlebar grip control via a planar four-bar linkage. The motion of the ebicycle has three degrees of freedom, one is rotating about the perpendicular through the ground plane, the other two are shiftable on the ground plane. In addition, a gyroscope is at the center of mass of the e-bicycle could provide the lean angle and the corresponding angular velocity, where this motion is regarded as an uncertain underactuated system. Finally, some animation simulations are given to show the effectiveness of the proposed control scheme.
    Advisor Committee
  • Wen-Shyong Yu - advisor
  • none - co-chair
  • none - co-chair
  • Files indicate not accessible
    Date of Defense 2011-07-28 Date of Submission 2011-08-31


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