Lateral dynamic modeling and control of a single wheel robot - 文章详情页

作者：

Zhu, X.-Q. (Zhu, X.-Q..) | Ruan, X.-G. (Ruan, X.-G..) | Wei, R.-Y. (Wei, R.-Y..) | Li, Y.-L. (Li, Y.-L..)

收录：

Scopus PKU CSCD

摘要：

This　paper　proposed　a　single　wheel　robot　(SWR)　applying　flywheel　to　maintain　lateral　balance,　and　derived　the　dynamic　model　on　the　lateral　direction　according　to　Lagrange　equation.　Based　on　the　dynamic　model,　PD　and　LQR　controllers　were　designed,　and　performed　in　simulation　and　physical　prototype,　respectively.　During　the　experiments,　the　SWR　initially　leaned　to　the　side　direction　at　a　certain　degree,　and　then　it　finally　stabilized　at　the　vertical　stable　position　by　controlling　the　flywheel　motion,　completing　the　lateral　stabilization　of　SWR.　Both　results　verified　the　dynamic　model.

关键词：

Flywheel; Lagarange eqution; Lateral dynamic modeling; Single wheel robot

作者机构：

[ 1 ] [Zhu, X.-Q.]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Ruan, X.-G.]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Wei, R.-Y.]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Li, Y.-L.]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

通讯作者信息：

[Ruan, X.-G.]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China

电子邮件地址：

adrxg@bjut.edu.cn

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