Lateral stabilization of a single wheel robot applying electromagnetic force - 文章详情页

作者：

Ruan, Xiaogang (Ruan, Xiaogang.) | Zhu, Xiaoqing (Zhu, Xiaoqing.) | Li, Yalei (Li, Yalei.) | Wei, Ruoyan (Wei, Ruoyan.)

收录：

EI Scopus

摘要：

The　lateral　stabilization　of　single　wheel　robot　is　a　challenge　for　researchers.　We　proposed　a　new　mechanism　to　solve　the　problem　by　applying　electromagnetic　force.　The　mechanism　was　described　briefly,　and　after　dynamic　analyses　of　the　robot,　its　state　space　equation　was　obtained.　The　prototype　was　built　in　ADAMS,　and　integrated　with　MATLAB　a　PID　controller　and　a　LQR　controller　were　performed　respectively.　A　simple　physical　experiment　was　carried　out　on　inverted　pendulum　applying　Lorentz　force.　Simulation　and　physical　experiment　results　show　that　the　proposed　mechanism　is　feasible　and　more　energy　efficient.　©　2012　IEEE.

关键词：

MATLAB Controllers Energy efficiency Three term control systems Wheels Stabilization Pendulums Intelligent control Dynamic analysis Robots Dynamics Equations of state

作者机构：

[ 1 ] [Ruan, Xiaogang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Zhu, Xiaoqing]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Li, Yalei]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Wei, Ruoyan]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

通讯作者信息：

电子邮件地址：

adrxg@bjut.edu.cn

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