Observer-based drive-control for self-balanced vehicles

被引：0
|
作者：
Hofer, Klaus [1 ]
机构：
[1] Univ Appl Sci, D-33611 Bielefeld, Germany
来源：
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 | 2006年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an innovative unicycle which is powered by a four-quadrant dc-servo drive consisting of a permanent exited dc-motor and a 4q-chopper converter. The control of gravitation, speed and torque is done by an observer-based cascade structure which stabilizes the unicycle automatically and places the driver's position in such a way that the centre of gravity is always above the axle of the wheel. As electric drive systems are able to correct the tilt angle nearly one hundred times a second this electric vehicle on one wheel can stand absolutely alone just like ghostly balanced.
引用
收藏
页码：1658 / 1663
页数：6
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