A Study on Developing Platform for Electric Unicycles
The purpose of this study is to develop a Selfbalancing Electric Unicycle (SEU). The composition of SEU includes a DSP motion controller, a wheel motor and its driver. In addition, to use a tilt and a gyro for sensing the angle and angular velocity of body slope will be used to realize selfbalancing control. SEU, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed 1-2. In this study, first, system modeling will be derived. Next, through the simulations basing on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a simple and realizable method such as a system pole assignment will be adopted to design a state feedback controller for the balancing control of SEU. The effectiveness and reliability of the proposal will be confirmed through simulation study on a SEU setup.
unicycle mobile-inverted-pendulum tilt gyro pole placement
C. N. Huang D. M. Huang
Graduate Institute of Mechatronic System Engineering, National University of Tainan, 33, Sec. 2, Shu-Lin St., Tainan 700, Taiwan
国际会议
The International Conference on Electrical Engineering 2009(2009 电机工程国际会议)
沈阳
英文
1-6
2009-07-05（万方平台首次上网日期，不代表论文的发表时间）