access icon free Manned self-balanced vehicle control system based on pressure sensors for steering

A new steering mechanical structure and an improved control method of the manned self-balanced vehicle are presented in this Letter. An effective method is introduced to calculate the real-time inclination of the vehicle. Then, the integrating inclination of the vehicle could be obtained by the complementary filter and proportional derivative (PD) algorithm. In addition, the control system could be regarded as a linear superposition of three parts, including the balance control, the speed control and the steering control. Moreover, the proportional, integral and derivative (PID) parameters of the whole control system are different under different operational conditions. Furthermore, the pressure sensors placed on the left and right pedals could detect the change of the weight, which simplifies the mechanical structure and improves the flexibility of the manned steering. The experiments in the prototype are designed to prove the steering structure and the improved method.

Inspec keywords: velocity control; pressure sensors; linear systems; vehicles; three-term control; steering systems; control system synthesis

Other keywords: PID parameters; real-time vehicle inclination; steering control; complementary filter; balance control; speed control; right pedals; improved control method; manned steering; PD algorithm; linear superposition; steering structure; manned self-balanced vehicle control system; left pedals; steering mechanical structure; pressure sensors

Subjects: Vehicle mechanics; Velocity, acceleration and rotation control; Transportation system control; Control system analysis and synthesis methods; Linear control systems

References

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      • 2. Shahraki, M., Aliyari Sh, M., Mousavinia, A.: ‘Two wheel self-balanced mobile robot identification based on experimental data’. Electrical Engineering (ICEE), IEEE 2017 Iranian Conf., Tehran, Iran, May 2017, pp. 883888.
    2. 2)
      • 1. Xin, S., Gong, M., Sun, Y., et al: ‘Control system design for two-wheel self-balanced robot based on fuzzy-PD control’. Intelligent Control and Information Processing (ICICIP), 2014 Fifth Int. Conf. on. IEEE, Dalian, China, August 2014, pp. 169174.
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