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This paper describes the design, programming, and construction of a battery operated autonomous Segbot. The Segbot, a two wheeled robot, has some similarities to the inverted pendulum cart system in that it is underactuated, exhibits non-minimum phase behavior, and requires a stabilizing controller to stand upright. The Segbot differs from the inverted pendulum cart system in that the dynamics are...
The working principle and constitution of electric power steering system (EPS) was introduced. The mathematic model was established and the state equation was listed. The influence factors and the corresponding solutions were analyzed. The close-loop control strategies of PID and PWM were adopted to control the target current of the motor for EPS. The simulations were made based on MATLAB/Simulink...
Based on comprehensive analysis of differential principle, a novel driving and control system for a direct-wheel-driven electric vehicle (EV) is presented in this paper. Without differential gears, direct-wheel-driven EV has to employ complicated differential algorithm for steering, which remarkably increased the difficulty of the control system of EV. The system proposed in this paper has changed...
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