碩士 / 國立高雄應用科技大學 / 機械與精密工程研究所 / 100 / This paper develops a coaxial two-wheeled vehicle with a movable cabin. The cabin can slide on the chassis in order to change the center of mass of the vehicle. Therefore, the stability of the vehicle can be increased if the cabin is always slide to make a quick adaptation to different driving conditions. Besides, the tilt angle of the vehicle, when it is accelerating or decelerating, can also be reduced, and thus ensures drivers’ safety and comfort.
In this study, the vehicle is firstly simplified as a three-link model, and the equation of motion is derived by using Lagrange dynamics and expressed in an explicit form. Simple control algorithms are also proposed for stabilizing the vehicle upright and driving the car with prescribed acceleration. The feasibility and validity of the control algorithms are then verified by using dynamic simulations.
Secondly, a prototype of the vehicle is designed and constructed on the basis of the simulation results. When driving the prototype on even terrain, it can be driven to go forward and backward, turn around corners, and make in-place turning. Therefore, it has enough flexibility to cope with crowded or confined space. The maximum testing speed of the prototype is about 15 km/hr on the runway of schoolyard. Besides, the prototype can also be driven to go uphill and downhill with a slope of 8 degrees.
Finally, some discussions and conclusions are drawn from the experiments, and recommendations for further improvement are also suggested.
| Identifer | oai:union.ndltd.org:TW/100KUAS8693084 |
| Creators | Syuan-Hao Shen, 沈軒豪 |
| Contributors | Chi-Feng Chang, 張志鋒 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 107 |
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