An autonomous dynamic balance of an electrical bicycle in motion using variable structure under-actuated control
2010; Wiley; Volume: 13; Issue: 2 Linguagem: Inglês
10.1002/asjc.303
ISSN1934-6093
AutoresChih‐Lyang Hwang, Hsiu‐Ming Wu, Ching‐Long Shih,
Tópico(s)Real-time simulation and control systems
ResumoAsian Journal of ControlVolume 13, Issue 2 p. 240-254 Regular Paper An autonomous dynamic balance of an electrical bicycle in motion using variable structure under-actuated control Chih-Lyang Hwang, Corresponding Author Chih-Lyang Hwang clhwang@mail.tku.edu.tw chih-lyang_hwang@hotmail.com Department of Electrical Engineering, Tamkang University, 151, Ying-Chuan Road, Tamsui, Taipei County, Taiwan 25137Department of Electrical Engineering, Tamkang University, 151, Ying-Chuan Road, Tamsui, Taipei County, Taiwan 25137Search for more papers by this authorHsiu-Ming Wu, Hsiu-Ming Wu D9307205@mail.ntust.edu.tw Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Section 4, Keelung Road, Taipei, 106, TaiwanSearch for more papers by this authorChing-Long Shih, Ching-Long Shih shihcl@mail.ntust.edu.tw Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Section 4, Keelung Road, Taipei, 106, TaiwanSearch for more papers by this author Chih-Lyang Hwang, Corresponding Author Chih-Lyang Hwang clhwang@mail.tku.edu.tw chih-lyang_hwang@hotmail.com Department of Electrical Engineering, Tamkang University, 151, Ying-Chuan Road, Tamsui, Taipei County, Taiwan 25137Department of Electrical Engineering, Tamkang University, 151, Ying-Chuan Road, Tamsui, Taipei County, Taiwan 25137Search for more papers by this authorHsiu-Ming Wu, Hsiu-Ming Wu D9307205@mail.ntust.edu.tw Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Section 4, Keelung Road, Taipei, 106, TaiwanSearch for more papers by this authorChing-Long Shih, Ching-Long Shih shihcl@mail.ntust.edu.tw Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Section 4, Keelung Road, Taipei, 106, TaiwanSearch for more papers by this author First published: 09 December 2010 https://doi.org/10.1002/asjc.303Citations: 12Read the full textAboutPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL Share a linkShare onFacebookTwitterLinked InRedditWechat Abstract Based on previous studies, two strategies, the controls of the center of gravity (CG) and the angle of steering handle, are employed to stabilize the bicycle in motion. In general, a pendulum is applied to adjust the CG of the bicycle. An additional factor is the inclination with respect to gravitational direction of the bicycle in motion (i.e., lean angle). As a whole, the system produces three outputs that will affect the dynamic balance of the electric bicycle: the angles of the pendulum, the lean, and the steering. The proposed control method used to generate the handle and pendulum torques is named variable structure under-actuated control (VSUAC), possessing the number of control inputs smaller than the system output. The purpose of using the VSUAC is the huge uncertainties of a bicycle system, often encountered with irregularities in ground conditions and gusts of wind. Merely using the ordinary proportional-derivative-integral (PID) control or other linear control methods usually do not show good robust performance when the aforementioned conditions are present. Finally, the simulations of the electrical bicycle in motion using ordinary PID control, modified proportional-derivative control (MPDC), and VSUAC are compared to judge the effectiveness and efficiency of the proposed control. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society Citing Literature Volume13, Issue2March 2011Pages 240-254 RelatedInformation
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