Steering structure for a single wheeled vehicle

• Autorzy: Beno Patrik , Gutten Miroslav , Simko Milan , Kubis Matej

Identyfikatory

DOI

10.15199/48.2021.01.19

Warianty tytułu

PL

System sterowania jednokołowym pojazdem elektrycznym

• Języki publikacji: EN

Abstrakty

EN

Nowadays, there is a need to reduce emissions in the world and use electricity to drive vehicles. There is an increasing interest in small passenger vehicles suitable for crowded cities. In this paper it was designed a universal control structure for a single-wheeled vehicle with a tilt sensor. In this structure is possible to apply a vehicle with parallel wheel arrangement. The paper describes a current and position loop with PI and PD controllers suitable for a single wheeled vehicle. It was designed a simple complementary filter for data processing. A complementary filter evaluate the data from accelerometer and gyroscope, which includes all signal processing requirements for control. Additionally, a program block diagram was also designed to be used in any microprocessor. The results and recommendations of the adjustment for further work with the proposed structure are evaluated in the end of the paper.

PL

W artykule zaprezentowano system sterowania jednokołowym pojazdem elektrycznym stosowanym do poruszania się w zatłoczonym mieście. Do kontroli prądu i pozycji pojazdu zastosowano sterowniki PI i PD. Do kontroli ruchu zastosowano czujniki przyśpieszenia oraz pochyelnia ora żyroskop.

Słowa kluczowe

EN

accelerometer; gyroscope; BLDC motor; DSP; Matlab; one wheeled; position loop; current loop

PL

jednokołowy pojazd elektryczny; sterowanie; żyroskop; silnik BLDC

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2021
• Tom: R. 97, nr 1
• Strony: 105--108
• Opis fizyczny: Bibliogr. 12 poz., rys., tab.

Twórcy

autor

Beno Patrik

• Faculty of Electrical Engineering of the University of Žilina, Department of Measurement and Applied Electrical Engineering, Univerzitná 1, 010 26 Žilina, Slovak Republic

autor

Gutten Miroslav

• Faculty of Electrical Engineering of the University of Žilina, Department of Measurement and Applied Electrical Engineering, Univerzitná 1, 010 26 Žilina, Slovak Republic

autor

Simko Milan

• Faculty of Electrical Engineering of the University of Žilina, Department of Measurement and Applied Electrical Engineering, Univerzitná 1, 010 26 Žilina, Slovak Republic

autor

Kubis Matej

• Faculty of Electrical Engineering of the University of Žilina, Department of Measurement and Applied Electrical Engineering, Univerzitná 1, 010 26 Žilina, Slovak Republic

Bibliografia

• [1] Kovacs, B. A., Stepan, G., Wang, Z., Insperge, T.: On the stability of two-wheeled vehicle balancing passive human subjects, In: IFAC PapersOnLine 51-22 (2018) 337-342
• [2] Lee, S. D., Jung, S.: Balancing control of a single-wheel robot considering power-efficiency and gyroscopic instability suppression, In: 15th International Conference on Control, Automation and Systems (ICCAS), Busan, South Korea, 2015
• [3] Lee, J.H., Shin, H.J., Lee, S. J., Jung S.: Balancing control of a single-wheel inverted pendulum system using air blowers: Evolution of Mechatronics capstone design, Mechatronics, vol. 23, pp. 926-932, 2013
• [4] Park, J., H., Jung, S.: Development and control of a singlewheel robot: Practical Mechatronics approach, In: Mechatronics, Vol. 23, No. 6, 2013, pp. 594-606
• [5] Hrabovcova, V. 2009. Meranie a modelovanie elektrických strojov. 2. vydanie Žilina: EDIS-vydavateľstvo ŽU, Žilinská univerzita, 2009. 335 strán. ISBN 978-80-8070-924-2
• [6] McGilvray S., Self-Erecting Inverted Pendulum: Swing up and Stabilization Control, 2002, Central Canada Council for the IEEE Student Paper Contest
• [7] Dobrucky, B. Diskrétne riadenie výkonových elektronických systémov. Žilina: EDIS-vydavateľstvo ŽU, Žilinská univerzita, 2003
• [8] FREESCALE. DSC56800EX Quick Start User Guide. Colorado: Freescale,2004.
• [9] Rodina, J., 2014. Aplikácia inerciálnych snímačov pre riadenie mobilných robotických platforiem, Autoreferát dizertačnej práce.
• [10] Rodriguez R., Micromachined Vibrating Gyroscopes: Design and Fabricationî. 2002.
• [11] Elliott-Laboratories. The Anschutz Gyro-Compass and Gyroscope Engineering; 2003, Wexford College Press: Kiel, Germany, pp. 7–24. ISBN 978-1-929148-12-7.
• [12] Andrejašic M., Mems accelerometers, 2008, University of Ljubljana Faculty for mathematics and physics Department of physics

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).