Steering Performance of an Inverted Pendulum Vehicle with Pedals as a Personal Mobility Vehicle
From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation.The authors propose an inverted pendulum vehicle with pedals as one of the forms of Personal Mobility Vehicles (PMVs).In this paper, the steering performance of the inverted pendulum vehicle with pedals is discussed based on experiments on a prototype.Considering dynamics and stability, the PMV that we propose has two operational modes: a parallel two-wheel mode (inverted pendulum vehicle) at low velocity and a bicycle mode at high velocity.For compatibility with the bicycle mode, the steering system is similar to the steering system of a bicycle.The vehicle is steered by the difference in rotation of the right and left tires according to information from the steering handle.The prototype vehicle has a reaction force actuator to control the steering.The dynamics of the steering system was designed based on the theory of the dynamics of the bicycle steering system It is necessary to adjust the turning gain of the inverted pendulum vehicle because it has the ability to turn in a small radius including rotation on the spot.In the experiments, the gains for the control of the reaction force of the steering were set to 6 conditions.The feedback gain of the steering angle and the gain of the steering angle rate were also set.Five males were used as subjects in the tests which were carried out after practice rides on the vehicle.The test course was a figure of eight that included a small radius turn.We confirmed that the all subjects could ride the vehicle with stabilization control and could turn in the intended direction without falling.From the experimental results, it was confirmed that the errors from the five subjects for the target trajectory and the five-grade evaluation of the maneuverability were similar.Finally, we created an inverted pendulum vehicle with pedals to which was added a reaction actuator for the steering system.From the experimental results, it was found that setting appropriate feedback gains for the handle steering angle and its rate of rotation, which control the right and left wheel driving torques, resulted in greatly improved maneuverability.
Chihiro Nakagawa Kimihiko Nakano Yoshihiro Suda Yuki Hirayama
Mechanical EngineeringOsaka Prefecture UniversitySakai,Osaka,599-8531,Japan Interdisciplinary Information StudiesUniversity of TokyoMeguro,Tokyo,153-8505,Japan Institute of Industrial ScienceUniversity of TokyoMeguro,Tokyo,153-8505,Japan Interdisciplinary Information Studies University of Tokyo Meguro,Tokyo,153-8505,Japan
国际会议
上海
英文
1-8
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）