Investigation of Dynamics and Control of the Single-Wheel Vehicle

• Autorzy: Sanh D. , Dihn V. P. , Do D. K. , Tran D.
• Języki publikacji: EN

Abstrakty

EN

In the presented paper, the problem of controlling a one-wheel vehicle is investigated. In connection with this problem, a hybrid method of both passive and active methods is applied. By means of the motion of an elliptic pendulum (passive controls) and the couple of forces of a servomotor (active controls) the unbalanced motion of the vehicle is controlled. The stated problem is solved by the theory of optimization of Hamilton and the method of constructing program constraints. A numerical algorithm is introduced, which is generalized for optimal problems of mechanical systems in the sense of stabilization.

Słowa kluczowe

EN

wheel vehicles; single-wheel vehicles; equations of motion; dynamics of mechanical systems

PL

pojazdy szynowe; równania ruchu; dynamika układów mechanicznych

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Problems
• Rocznik: 2007
• Tom: Vol. 31, No. 4
• Strony: 46--56
• Opis fizyczny: Bibliogr. 7 poz., wykr

Twórcy

autor

Sanh D.

autor

Dihn V. P.

autor

Do D. K.

autor

Tran D.

• Hanoi University of Technology, Vietnam,

Bibliografia

• Do Sanh, 1984, On the motion of controlled mechanical systems, Advances in Mechanics, Tom 7, 2, Warsaw, 3-24.
• Do Sanh, Dinh Van Phong, Do Dang Khoa, 2004, Problem of Optimal of Program Motion of Mechanical System, 8th International Conference of Mechatronics Technology, Hanoi, Vietnam.
• Do Sanh, Dinh Van Phong, Do Dang Khoa, 2005, Realization of Program Motion in Asymptotical Sense, 5th Asian Symposium on Applied Electromagnetics and Mechanics, Science and Technology Publishing House, Hanoi.
• Do Sanh,Do Dang Khoa, 2007, Applying Principle of Compatibility for Determining Reaction Forces of Constraints, Machine Dynamics Problems, 31, No 1, 72-81.
• Do Sanh, Dinh Van Phong, Do Dang Khoa, Tran Due, 2008, Control of program motion of dynamics systems using relative motions, Technische Mechanik (in printing).
• Pontriagin, L.S., et al., 1962, The Mathematical Theory of Optimal Process, tans, by K.N. Trigoff, Inter Science Publishers, New York.
• Vincent, T.L., Grantham, W.J., 1997, Nonlinear and Optimal Control, John Willey & Sons, New York.