王立昇臺灣大學：應用力學研究所陳政文Chen, Zheng-WenZheng-WenChen2007-11-292018-06-292007-11-292018-06-292006http://ntur.lib.ntu.edu.tw//handle/246246/62399本文之主旨在於研究推移物件之動力行為且完成雙載具協同推移物體之實驗，在推物的動力行為方面，我們分別推導出推物系統在不受摩擦力、受到均勻摩擦力、以及受到非均勻摩擦力的運動方程式，討論其穩定性，並設計控制法則。我們發現，非均勻摩擦力的引入較接近實際推物的情形，所需控制的耗能亦較少，雖然本質上推物系統為一不穩定的系統，但可藉由控制器的設計實現推移物件的目的。 在雙載具實驗方面我們採用模糊控制理論，選取被推移物的位置誤差、姿態誤差為輸入變數，輸出則為物件之速度補償，然後引入雙載具協同推移物體之模型，將速度補償轉換為雙載具的輪速補償，經過模擬確認此推物系統之可行性後，以實際的硬體實驗完成此協同推物的任務。The main theme of this thesis is to study the dynamical behavior of pushing an object and to conduct the experiment of pushing using two mobile robot . In studying the dynamics of pushing , three models are estimate , first one ignores the influence of friction , the second one includes the influence of uniform friction ; and the third takes into account the influence of non-uniform friction. We discuss the stability of this system and design the control law for tracking . We find that the model with non-uniform friction is more close to the real case , and is easier to control . Although the pushing system is unstable in general , we can still control it by designing the control law through changing the acting point and the direction of the pushing force . In the experiment , we use fuzzy theory in which the position error and the posture error are taken as system input . The compensation on the velocity of the object is treated as system output . The coordinated control model is then used to convert the velocity compensation to velocity compensation of the wheels . The methodology is first verified through simulation , and then justified by experiment .誌謝﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅰ Abstract﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅱ 摘要﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅲ 目錄﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅳ 圖目錄﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅵ 第一章 緒論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 1 1.1 研究動機與文獻回顧 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1 1.2 論文架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒3 第二章 推移物件動力行為分析﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒4 2.1 無控制下之推物系統動力行為分析 ﹒﹒﹒﹒﹒﹒﹒﹒4 2.1.1 摩擦力可忽略﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒5 2.1.2 均勻摩擦力﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒5 2.1.3 非均勻摩擦力﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒6 2.2 受控制下之推物系統動力行為﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒10 2.2.1 不考慮摩擦力的情況 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒11 2.2.2 考慮均勻摩擦力的情況 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒16 2.2.3 考慮非均勻摩擦力的情況 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒18 2.3 模擬結果﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒21 2.4 模擬結果討論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒28 第三章 系統架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 30 3.1双載具協同推物系統描述 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒30 3.2路徑規畫 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 36 3.2.1 B-樣條曲線﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 37 3.2.2 受約束之B-樣條曲線﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 42 3.2.3 双載具協同推物實驗之路徑規畫﹒﹒﹒﹒﹒﹒﹒ 49 第四章 載具協同控制策略﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 52 4.1 單載具輪速轉換公式﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒52 4.2 双載具協同推物方程﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 56 4.3 輪速轉換公式﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 59 4.4 推物系統控制器設計﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 63 4.5 雙載具輪速補償﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 70 第五章 雙載具推物之模擬與實驗結果 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒72 第六章 結論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 81 附錄 I﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒82 附錄II ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒87 參考文獻﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ 903050428 bytesapplication/pdfen-US協同推物Coordinated controlthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/62399/1/ntu-95-R93543044-1.pdf