Abstract
The paper presents a method for determination of interaction between a two-wheeled self-balancing vehicle and its rider while driving. The presented approach is a new direction of research, because this kind of interaction is usually overlooked in simulation and analytical studies whose aim is to determine and verify the vehicle control method. The proposed method is based on the comparison of experimental results with the computer simulation results. The mathematical model of the vehicle–rider system used in the simulation includes a postulated qualitative mathematical form of interaction with unknown coefficients (in practice, they estimate parameters of the rider). These unknown coefficients have been obtained by designation of the matching function between the experimental data and simulation data. Based on these coefficients, the generalized form of interaction between a two-wheeled self-balancing vehicle and its rider has been found. DOI: http://dx.doi.org/10.5755/j01.mech.22.5.13315
Highlights
A two-wheeled self-balancing vehicle is a device in which acceleration of a vehicle is controlled by an appropriate balancing of the rider’s body
There are many papers describing the theory of TWSBV, where the main attention is focused on the problem of stability of an already leaning vehicle [4,5,6,7,8], and a mathematical model of the vehicle is approximated by a two-wheeled inverted pendulum
This approach is correct if the model is used only to determine the stability control of the vehicle in the upright position. Such a model has been used in this work, but only in order to determine the motor control. At this point the question arises whether the model of a two-wheeled selfbalancing vehicle with a rider can be completely approximated by two-wheeled inverted pendulum model
Summary
A two-wheeled self-balancing vehicle (the commercial version is called the SegwayTM) is a device in which acceleration of a vehicle is controlled by an appropriate balancing of the rider’s body. There are many papers describing the theory of TWSBV (a two-wheeled self-balancing vehicle), where the main attention is focused on the problem of stability of an already leaning vehicle [4,5,6,7,8], and a mathematical model of the vehicle is approximated by a two-wheeled inverted pendulum. This approach is correct if the model is used only to determine the stability control of the vehicle in the upright position.
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