教師資料查詢 | 類別: 期刊論文 | 教師: 黃志良 CHIH-LYANG HUANG (瀏覽個人網頁)

標題:An autonomous dynamic balance of an electrical bicycle in motion using variable structure under-actuated control
學年99
學期2
出版(發表)日期2011/03/01
作品名稱An autonomous dynamic balance of an electrical bicycle in motion using variable structure under-actuated control
作品名稱(其他語言)
著者Hwang, Chih-Lyang; Wu, Hsiu-Ming; Shih, Ching-Long
單位淡江大學電機工程學系
出版者Hoboken: Wiley-Blackwell Publishing, Inc.
著錄名稱、卷期、頁數Asian Journal of Control 13(2), pp.240-254
摘要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.
關鍵字Electrical bicycle;dynamic balance;variable structure under actuated control;modified proportional-derivative control;Lyapunov stability
語言英文
ISSN1561-8625
期刊性質國外
收錄於SCI;EI
產學合作
通訊作者Hwang, Chih-Lyang; Wu, Hsiu-Ming; Shih, Ching-Long
審稿制度
國別美國
公開徵稿
出版型式紙本
相關連結
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