差速驅動輪式移動機器人輕量化設計與運動軌跡精確追蹤控制

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姓名

周娟安(Chuan-An Chou) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

差速驅動輪式移動機器人輕量化設計與運動軌跡精確追蹤控制
(Differential Drive Wheeled Mobile Robot Lightweight Design and Precise Tracking Control of Motion Trajectory)

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至系統瀏覽論文 (2029-7-1以後開放)

摘要(中)

差速驅動輪式移動機器人在機器人領域中越來越受歡迎而且已被廣泛使用，它具有操動靈活、結構簡單、生產成本較低等優點。此外，它也可以長時間工作，無需人工干預即可完成所指派的任務。在許多工業的應用中，大多採用傳統的輪式移動機器人，它的體積龐大且笨重，而且損壞時零件也不容易更換。同時，它在軌跡控制方面，若要確保差速驅動輪式移動機器人的實際位置和姿態能夠準確追蹤到期望的軌跡，也是一項當前極具挑戰的問題。
在本論文中，我們設計與建構出一台兼具輕巧、堅固且結構簡單的差速驅動輪式移動機器人。首先，藉由減輕其不必要的機構重量，並且在承載重物時其仍然可以維持良好系統的機構與操控穩定性。此外，我們還考慮了設計的零件是否容易拆卸、組裝，使其故障時可以方便維修或是快速更換損壞零件。然後，在軌跡控制器設計的部分，我們考慮外界干擾和不確定項進並建構在差速驅動輪式移動機器人的動態模型中，並輔以反步控制器和自適應滑模控制器來解決系統外部干擾和不確定性的問題，使所開發的進階控制器能夠精確地追蹤期望運動軌跡，同時確保差速驅動輪式移動機器人的動態操控穩定性。最後，將所提出的進階控制器與比例-積分-微分控制器及滑模控制器的軌跡追蹤結果進行比較，結果證實所提出的進階控制器在軌跡追蹤表現皆優於上述兩種傳統之控制器。

摘要(英)

Differential drive wheeled mobile robots (DDWMR) are becoming more and more popular and have been widely used in the field of robotics, which has the advantages of flexible movement, simple structure, and lower production cost. In addition, it can work for long periods of time and can accomplish assigned tasks without human interference. In many industries, conventional mobile robots are relatively heavy, and the parts are not easily replaced. At the same time, motion trajectory control is also a challenging issue, which needs to ensure that the actual position and attitude of the DDWMR can accurately track the desired trajectory.
In this thesis, we design and construct a DDWMR that is lightweight, structure-robust, and mechanism-simple. We reduce the mechanism’s unnecessary weight and maintain the system structure’s stability when carrying heavy loads. In addition, we also considered the designed parts for the ease of disassembling and assembling so that they can be easily repaired or replaced. Then, we consider the external disturbances and uncertainties in the dynamic model of the DDWMR and combine the backstepping controller and adaptive sliding-mode controller (ASMC) to solve the problems of the system’s external disturbances and uncertainties so that the developed advanced controller can track the desired trajectory accurately, and at the same time ensure the dynamic stability of the DDWMR. Finally, the trajectory tracking results of the proposed controller are compared with the proportional-integral-derivative (PID) controller and the sliding mode controller (SMC). The experiment results demonstrated that the trajectory tracking utilizing the proposed controller performs better than two traditional controllers.

關鍵字(中)

★ 差速驅動輪式移動機器人
★ 動態模型
★ 反步控制
★ 自適應滑模控制
★ 精確運動軌跡追蹤

關鍵字(英)

★ Differential drive wheeled mobile robot
★ Dynamics model
★ Back-stepping control
★ Adaptive sliding mode control
★ Precise motion trajectory tracking

論文目次

摘要...i
ABSTRACT...iii
誌謝...v
Table of Content...vi
List of Figures...viii
List of Tables...xi
Explanation of Symbols...xii
Chapter 1 Introduction...1
1.1 Motivation...1
1.2 Literature Survey...2
1.2.1 Mechanism Design of Wheeled Mobile Robot...2
1.2.2 Trajectory Control Method of Wheeled Mobile Robot...6
1.3 Contribution...11
1.4 Thesis Organization...13
Chapter 2 Preliminaries...14
2.1 Hardware Selection...14
2.1.1 Motor...14
2.1.2 L298N Driver Module...16
2.1.3 MPU6050 Attitude Sensor...17
2.1.4 Battery Life...19
2.2 Model of Differential Drive Wheeled Mobile Robot...19
2.2.1 Kinematic Model...21
2.2.2 Dynamic Model...25
2.2.3 Actuator Modeling...27
2.3 Control Method...28
2.3.1 Backstepping Control...28
2.3.2 Sliding Mode Control...29
Chapter 3 Mechanism Design of Differential Drive-Wheeled Mobile Robot...32
3.1 Mechanical Structure System...33
3.2 Power Transmission System...35
3.3 Wheel Guidance System...39
3.4 The DDWMR Mobile Design...41
Chapter 4 Controller Design...43
4.1 Dynamic Model with Actuators for DDWMR...43
4.2 Backstepping Combined Adaptive Sliding Mode Control...46
Chapter 5 Simulation and Experiment Results...57
5.1 Simulation Settings...57
5.2 Simulation Results...59
5.3 Experiment Settings...69
5.4 Experiment Results...72
Chapter 6 Conclusions...82
Reference...83

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指導教授

吳俊緯(Jim-Wei Wu)

審核日期

2024-12-25

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