Improvement of Dynamic Modeling and Control of Single-axis Two wheeled Vehicle

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Khalkhali-Sharifi, Seyed Sadra | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45654 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Vosoughi, Gholamreza
Abstract:
In the recnt decades, traffics and airpolution are the most impoetant concerns of researchers in the field of city transportation. One of the most successful ways to overcome these poblems is to ustilize two-wheeled, one axis balancing vehicles. These vehicles occupies a small sapace, consumes less energy and its considerable maneuverability, makes it the best option to reform in-city transportation system. The newly introduced model of these robots incorporates a passenger cabin and a strick to control its movement. Unfortunately, in all of the recent studies, robots dynamics and controller system are base on optimistic hypothesis, which is no slippage between ground and wheels. Even in the most prosper commercial two-wheeled robot –Segway- slip results in deviation frolm the refrence path and losing stability. To identify vehicle’sdeviation, one should combine gyro and accelerometer sensors data, which is also surveyed in this research.
Keywords:
Hybrid Control ; Sensor Fusion ; Dynamic Modeling ; Two Wheeled Single Axis Vehicle ; Set-Point Tracking

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