High speed segway control with series elastic actuator for driving stability improvement
| Autor: | Ji-Hyeon Kim, Haneul Yun, Jinuk Bang, Jang-Myung Lee |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Mechanical Engineering Control (management) Stability (learning theory) 02 engineering and technology Driving safety Automotive engineering Vibration 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Control theory Actuator |
| Zdroj: | Journal of Mechanical Science and Technology. 33:5449-5459 |
| ISSN: | 1976-3824 1738-494X |
| DOI: | 10.1007/s12206-019-1039-x |
| Popis: | Recently, Segway has been developed continuously for intelligent mobile vehicles and the performance of Segway is being enhanced. In particular, high-speed Segway must be controlled for maintaining stability in dangerous situations. Therefore, safety factors during driving situation have been considered seriously. In most of the developments and studies on Segway, however, the optimization and improvement of the controller component have been tackled and there are few studies on the safety devices and the stability of driving. Therefore, in this research we focus on the control of the SEA to improve the driving stability of high-speed Segway. The impact and vibration generated from the ground due to uneven road surfaces considerably influence the driving safety. So, by measuring and compensating for the external forces transmitted to the Segway using the SEA, a comfort of the driver can be improved and better driving stability can be ensured. By linear and curved path driving experiments, the performance of the proposed algorithm to improve the stability has been verified. |
| Databáze: | OpenAIRE |
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