倒單擺系統應用於保齡球運動姿態之研究

A Study of Inverted Pendulum System Applied on Bowling Ball Movement Posture

10.29688/MHJ.200902.0008

任復華(Fu-Hua Jen)；高涵鈞(Hang-Chun Kao)

不穩定平衡點 ； 擬人丟擲保齡球 ； Unstable equilibrium point ； Simulation of the bowling movement posture

明新學報

35卷1期（2009 / 02 / 01）

75 - 88

繁體中文

行星齒輪式倒單擺系統，屬於一個非線性且不穩定之系統。因為人類丟擲保齡球之運動姿態如同倒單擺擺動之運動軌跡，所以，本研究將其應用於擬人丟擲保齡球動作姿態之探討。控制行星齒輪式倒單擺的軟體是VisSim。控制器部份則使用模糊控制器搭配PID控制器來實現。本研究設計出單擺以單邊甩上之控制條件，由於丟擲保齡球動作，只能從固定側將單擺甩上至不穩定平衡點，並能設定角度以停止單擺，作為保齡球運動的出手點。實驗顯示行星齒輪式倒單擺系統確實可應用於擬人丟擲保齡球之運動狀態。

This research used a planetary train type inverted pendulum system, which is a nonlinear and unstable system. The posture of a human being throwing a bowling ball is similar to the swing-up motion of an inverted pendulum. Therefore, this research applied planetary train type inverted pendulum system on the simulation of the movement posture that a human being throws a bowling ball. In this case, a fuzzy controller followed with a PID controller was implemented for control. It is achieved to design a control condition for the pendulum to swing up in one direction only because that the movement of throwing a bowling ball can only from one side to the unstable equilibrium point. This research succeeded to set the angle to stop the pendulum for beginning to throw out a bowling ball. Experiments show that the planetary train type inverted pendulum system may be a proper design for simulations of the bowling movement posture.

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