Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
In recent years, the system parameter identification attracts attention of scholars and engineers, as the system control precision can be improved with it. In this paper, we take advantage of Hopfield neural network to identify the system parameters. Firstly, a kind of self balancing vehicle dynamic model is proposed. Secondly, the subsystem of the self balancing vehicle is analyzed in the form of...
A kind of unicycle robot was designed. The mechanical structure can be divided into pitching subsystem and yaw subsystem. A kind of dynamic model was proposed based on Appell Equations. And the linear dynamic model of the unicycle robot was presented by the means of the linearization, ignoring the effects of the high-order items and the multiplications of coupling items. And a sliding mode controller...
A kind of front-wheel drive bicycle robot is researched in this paper. Firstly, the coordinate system is established by the analysis of the robot structure. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the bicycle robot is obtained based on Appell Equation. Meanwhile, the motion characteristics of the bicycle on circular motion are analyzed....
A dynamic model and a sliding mode controller are researched based on a new type variable structure two-wheeled robot in this paper. Firstly, the structure of the robot is designed according to the movement characteristics. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the robot is obtained based on Appell Equation. Thirdly, a sliding mode controller...
Sliding mode controller of a two-wheeled robot is designed in this paper. To simplify the design of the controller, the dynamic model is divided into two independent subsystems: balance subsystem and direction subsystem. Cascade sliding mode controller is designed for the balance subsystem, its control purpose is to track the ideal pitch angle and angular velocity and make the angular velocities of...
A kind of dynamic model was proposed based on Appell equations. And the sliding mode controller was designed for the unicycle robot. The dynamic model of the unicycle robot was presented after the linearization, by ignoring the effects of the high-order terms and the multiplications of coupling terms. And the computer simulation including the controller for the pitching, the rolling and the yaw subsystem...
In this paper, the circuit model of the parallel connected induction motors driven by single inverter is established. According to the circuit model, the problem of unbalanced electromagnetic torque caused by the wheel diameter difference of the parallel connected motors is analyzed. The weighted vector equation of the parallel connected motors is established. To improve the control performance with...
In this paper, we focus on the design of non-linear controller for the self-balancing unicycle robot, the robot models according to the Routh equation. On this basis, the RBF neural network self-adaption controller of the unicycle robot is proposed. The real prototype is built. And the validity of the mechanism is verified by experiments, the pitching and the rolling balance could be achieved by the...
A bicycle robot which can move straightly on its own is established in the paper. When moving with a constant speed, the bicycle can keep balancing by adjusting the frontbar only. The nonlinear dynamic model of bicycle robot is presented based on Routh method. The robot model is Simplified according to the state of bicycle robot. The roll angle and frontbar angle are taken as system generalized coordinates...
This paper focus on the dynamic modeling and the LQR and PID controllers for the self balancing unicycle robot. The mechanism of the unicycle robot is designed. The pitching and rolling balance could be achieved by the driving of the motor on the wheel and the balance weight on the body of robot. The dynamic equations of the robot are presented based on the Routh equation. On this basis, the LQR and...
The track stand motion for the bicycle robot with front-wheel drive under 90 degrees front-bar turning angle is analyzed in this paper. A kind of dynamic model is proposed based on Appell Equation. To achieve the goal of track stand motion control, the controller is designed based on RBF neural network and adaptive sliding mode control algorithm. And the computer simulation is carried out based on...
A new transmission profile named cycloid-like profile is presented in this paper. The reducer with cycloidlike profiles has a character of pin wheels pure rolling, which can gain a high transmission efficiency. The design process with two conditions of pin wheel pure rolling are described in details and the comparison between cycloid-like and cycloid profiles are taken. At last, prototype experiment...
This paper focus on dynamic modeling and a kind of controller for the variable structure bicycle robot's (which called VSBR) track-stand motion when its front wheel is fixed at 45 degrees about its front fork. Firstly, making dynamic analysis for the VSBR whose front wheel is fixed at arbitrary degrees about its front fork. The roll angle, yaw angle, the angle front fork rotated and the angle front...
This paper concerns the complete loss of reaction wheel effectiveness problem for the attitude control system of microsatellites. An anti-disturbance tolerant control method with disturbance rejection and compensation is presented. Due to the complete loss of reaction wheel effectiveness, four reaction wheels are applied for attitude control, which not only considering the external environment disturbance...
This paper concerns the reaction wheel failure and system with partial unmeasurable states for the attitude control system of microsatellites. An anti-disturbance tolerant control method based on output feedback control is presented. Due to the disturbance of flexible component vibration and failure of reaction wheel, an disturbance observer based on output feedback control is proposed firstly. Furthermore,...
The nonlinear characteristics in the bicycle robot dynamic system make the bicycle robot control much more difficult. Aiming at this problem, the cascade sliding-mode control method was applied to the bicycle robot nonlinear system. A kind of bicycle robot nonlinear dynamic model presented based on Lagrange method was analyzed and the cascade sliding-mode controller of multi-sliding surface was designed...
Bicycle robot have two points contacting with its support plane, and the connecting line between these two point can be dealt with equilibrium axis when the bicycle perform regular motions. In this paper, we discuses stable equilibrium motion of a front-wheel drive bicycle robot by use of moment balance of inertial forces and gravities. Firstly, under the presupposition of rolling without sliding,...
The bicycle robot is a natural unstable nonlinear system. Its inherent nonlinear and deeply coupling characters of bicycle robot make the problem of control it much more difficult. Taking the steering torque and the driving torque of rear wheel as system inputs, the goal of bicycle robot self balancing was achieved. The rolling angle and the steering angle were taken as system generalized coordinates...
This paper highlights dynamic modeling of a front-wheel drive bicycle robot by using Kane's method. At first, the unique structure of the proposed bicycle robot was introduced. Then, kinematics of the robot was discussed under the pure rolling presupposition of the two road wheels. The kinematics analysis reveals the nonholonomic constraints in the system. Next, dynamic model of the bicycle robot...
Taking the steering torque as the input of system, a kind of steering control single-input single-output dynamic model for bicycle robot is presented based on Lagrange method. The nonlinear dynamic model was described as a SISO affine nonlinear system. Then the system was represented into the standard Byres-Isidori standard form base on the diffeomorphism transform theory. The system described with...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.