Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum

Mayr, Johannes A.; Spanlang, Franz; Gattringer, Hubert

doi:10.1016/j.mechatronics.2015.04.019

Cited by 26 publications

(8 citation statements)

References 17 publications

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“…(2) Baseada na robustez requerida pelo porte do PIRR e da roda, a ideia de acoplamentos rígidos coaxiais mostrou-se de execução muito complexa, sempre restando algum nível de desalinhamento, que introduz assimetrias no atuador, vibrações e ruídos. Podendo ser substituindo por: correias, engrenagens, acoplamentos flexíveis ou acoplamento direto no eixo do motor/redutor como em Block et al (2007); Spong et al (2001); Lemos (2007); Aguilar-Avelar et al 2017; Mayr et al (2015) .…”

Section: Resultados E Discussõesunclassified

Aspectos Práticos sobre o Desenvolvimento de um Pêndulo Invertido com Roda de Reação

Almada

Frizon

Dutra

et al. 2020

Anais Do Congresso Brasileiro De Automática 2020

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O controle de sistemas não lineares pode-se tornar uma tarefa complexa, dependendo da dificuldade do sistema a ser controlado. O modelo não linear do Pêndulo Invertido é um exemplo de não linearidade relativamente complexo, e a implementação de um controlador para este sistema requer uma série de considerações e simplificações. Desta forma este trabalho investiga como construir, modelar e controlar um pêndulo invertido com roda de reação, com ênfase em procedimentos e metodologias. Sendo assim foi construído um protótipo do Pêndulo, seu modelo matemático desenvolvido e parametrizado, assim como todo o hardware necessário ao seu funcionamento. Foram também implementadas duas arquiteturas de controle linear, uma PID e outra por Alocação Arbitrária de Polos no espaço de estados, que atendem a requisitos básicos de regulação do modelo linearizado no ponto de operação. Como resultado têm-se um protótipo funcional, seu modelo, controladores que o estabilizam e uma breve avaliação deles.

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Section: Resultados E Discussõesunclassified

Aspectos Práticos sobre o Desenvolvimento de um Pêndulo Invertido com Roda de Reação

Almada

Frizon

Dutra

et al. 2020

Anais Do Congresso Brasileiro De Automática 2020

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“…In a number of robotic laboratories around the world, the research on wheeled inverted pendulum (WIP) robots has significantly expanded. Chinnadurai and Ranganathan [2] applied the concept of an inverted pendulum by developing a two-wheeled self-supporting robot. This low power consuming robot is equipped with an infra red (IR) sensor, attitude sensor, and tilt sensor.…”

Section: Inverted Pendulum-based Systemsmentioning

confidence: 99%

Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

Goher

Fadlallah

2019

Int. J. Autom. Comput.

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This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a twowheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink®. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.

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“…Similar demonstrators are also considered in [1,2]. The system is underactuated, non-linear, unstable, lightweight and highly influenced by gyroscopic effects and therefore well suited for education in robotics [3]. Two flywheels rotating with constant angular velocity ω 0 can be tilted about the vertical axis (angle β) generating a torque in horizontal direction of the bicycle (principle of angular momentum) that is used for stabilization [4].…”

Section: Mathematical Modeling and Lqr-control Of Non-moving Bicyclementioning

confidence: 99%

Dynamical Modeling and LQR Control of a Gyroscopically Stabilized Bicycle

Gattringer

Reiter

Müller

et al. 2018

Proc Appl Math and Mech

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This contribution focuses on the dynamical modeling and control of a self-balancing bicycle. The bicycle is equipped with two flywheels rotating at constant speed mounted via a hinge that is actuated by an additional motor and allows for rotation about the vertical axis. Due to the balance of angular momentum, a torque is generated around the axis perpendicular to the hinge and spinning axis, i.e. an axis along the forward motion direction. This gyroscopic effect is exploited for the stabilization of the bicycle. Two cases are distinguished: 1) For the stabilization of the non-moving bicycle an LQ-controller based on a linear model is used. 2) For the moving bicycle, a non-linear dynamic model in terms of non-holonomic velocities is derived and based on the linearized model at constant driving speeds the stability of the bicycle is analyzed. The model reveals the self-stabilization behavior of a bicycle without flywheels. At a speed of about 17km/h, the linearized model has only eigenvalues with negative real parts and is hence stable. Experimental as well as simulation results are presented.This is an open access article under the terms of the Creative Commons Attribution-Non-Commercial-NoDerivs Licence 4.0, which permits use and distribution in any medium, provided the original work is properly cited, the use is non-commercial and no modifications or adaptations are made.

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Mechatronic design of a self-balancing three-dimensional inertia wheel pendulum

Cited by 26 publications

References 17 publications

Aspectos Práticos sobre o Desenvolvimento de um Pêndulo Invertido com Roda de Reação

Aspectos Práticos sobre o Desenvolvimento de um Pêndulo Invertido com Roda de Reação

Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

Dynamical Modeling and LQR Control of a Gyroscopically Stabilized Bicycle

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