使用飞轮稳定自平衡自行车

Q3 Mathematics WSEAS Transactions on Systems and Control Pub Date : 2024-04-16 DOI:10.37394/23203.2024.19.8

I. Siller-Alcalá, J. U. Liceaga-Castro, R. Alcántara-Ramírez, S. Calzadilla-Ayala

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引用次数: 0

摘要

本文介绍了两种线性控制系统方法的设计，以稳定无人驾驶自行车系统的平衡。这两种方法都基于使用反作用轮或飞轮来平衡自行车。这两种线性控制方法是基于使用拉格朗日形式主义获得的非线性模型的线性化，是经典的线性控制器、PID 控制和状态反馈控制。数字模拟和实时实验结果验证了这两种控制器的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Using a Flywheel to Stabilize a Self-Balancing Bicycle

The designs of two linear control systems approach to stabilize the balance of an unmanned bicycle system are presented. Both approaches are based on the use of a reaction wheel or flywheel to balance the bicycle. The two linear control approaches, based on the linearization of a nonlinear model obtained using Lagrange formalism, are the classic linear controllers, PID and State Feedback control. The performance of both controllers is verified by digital simulation and real-time experimental results.

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来源期刊

WSEAS Transactions on Systems and Control Mathematics-Control and Optimization

CiteScore

1.80

自引率

0.00%

发文量

期刊介绍： WSEAS Transactions on Systems and Control publishes original research papers relating to systems theory and automatic control. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with systems theory, dynamical systems, linear and non-linear control, intelligent control, robotics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.