两轮 自平衡车 国外案例

FacultyofEngineering,Computer&MathematicalSciencesSchoolofMechanicalEngineeringSONofEDGARState-SpaceControlofElectro-DriveGravity-AwareRideFinalReportOct20th,2006AuthorsN.P.BakerC.P.BrownD.R.SDowlingJ.L.ModraD.J.TootellSupervisorDr.B.S.CazzolatoiExecutiveSummaryThisreport,SONofEDGAR:ASelf-BalancingScooter,coversthemodellinganddesignofaco-axial,twowheeledscootertoprovideamethodofhumantransport.TheaimoftheprojectwastodesignandbuildadevicethatbehavesinasimilarmannertothatoftheSegwayHumanTransporter,“thefirstandonlyself-balancingvehicletobecommerciallyavailable”(Clarketal.,2005).Theoutcomesofarangeofpreviousattemptsatcreatingself-balancingdevicesarediscussedinliteraturereviewscontainedwithinthisreport.ThedesignofSONofEDGARdrawsupontheadvantagesanddisadvantagesofthepreviousdesignsinanattempttocreatearobust,easytousedevice.Componentsforthedevicewereselectedafterextensiveresearchhadoccurredandthemechanicalandelectricaldesignwasimplementedusingthecharacteristicsofthesecomponents.Theprocessusedtomaintainthescooterintheuprightposition,issimilartothatusedbyhumanstobalance.Byrecognisingtheangularpositionthedeviceisfromupright,acorrectionismadeusingastatespacecontrollerwhichmovesthewheelsintheappropriatedirectiontoreturnthedevicetotheuprightposition.SONofEDGARhasbeensuccessfullybuiltandtestedandisarobust,easilyrideablescooter.Manyenhancementshavebeenmadefromthe2005EDGARmodel,makingSONofEDGARafarsuperiordevice.Themajorityoftheprimarygoalssetoutatthebeginningoftheprojecthavebeencompletedandallgoalswillbecompletedpriortothe2006UniversityofAdelaideMechanicalEngineeringprojectexhibition.iiDisclaimerThisreportistheworkofthefiveauthors.Anyinformationthathasbeenobtainedfromotherauthorshasbeenrespectivelycitedwhereused.………………………………..NicholasBakerDate:………………………………..CameronBrownDate:………………………………..DavidDowlingDate:………………………………..JustinModraDate:………………………………..DanielTootellDate:iiiAcknowledgementsTheSONofEDGARprojectwouldnothavebeenpossiblewithoutthehelpofmanyindividuals.FirstlytheprojectgroupwouldliketothankDr.BenjaminCazzolatoforhissupportandhelpthroughouttheproject,ithasbeenmuchappreciatedandofgreatassistance.TheprojectteamwouldalsoliketothankthetechniciansintheMechanicalWorkshop.RichardPatemanandBillFinchhavebeenhelpfulinofferingadvicehoweverinconvenientitwasforthem.AspecialmentionmustgotoSteveKloedenwhohasgivenupsomuchofhisprecioustimetodiscussdesignissueswiththeteam.TheprojectgroupwouldalsoliketothanktheteamfromtheInstrumentationWorkshop,inparticularSilvioDeIeso,fortheirguidanceinallthingselectronic.TheprojectteamwouldliketothankFelixGrasserfortheinformationprovidedthatassistedusgreatlywithourunderstandingoftheprojectaswellasTrevorBlackwellforhiscorrespondence.ContentsivContents1Introduction............................................................................................................12Background............................................................................................................32.1FundamentalControlPrinciples....................................................................32.2RecentResearchandDevelopment...............................................................42.2.1TheSegwayModel................................................................................42.2.2Blackwell’sFirstModel.......................................................................122.2.3Blackwell’sSecondModel..................................................................152.2.4TheEDGARModel.............................................................................192.2.5RCControlofaSegway......................................................................232.2.6JOE.......................................................................................................252.2.7ComplementaryFilters.........................................................................283ProjectGoalsandComponentSpecifications......................................................333.1ProjectGoals................................................................................................333.2SpecificationsDevelopment........................................................................343.3BasicComponentSpecification...................................................................364ComponentSelection...........................................................................................394.1Motor............................................................................................................394.2Gyroscope....................................................................................................414.3Accelerometer..............................................................................................424.4PowerSupply...............................................................................................434.4.1PowerDistributionBoard....................................................................464.5Encoders...........................................................................