Title :
Observer-Based Drive-Control for Self-Balanced Vehicles
Author_Institution :
Univ. of Appl. Sci., Bielefeld
Abstract :
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
Keywords :
DC motor drives; angular velocity control; choppers (circuits); electric vehicles; power convertors; road vehicles; servomechanisms; torque control; 4q-chopper converter; centre of gravity; electric drive systems; electric vehicle; four-quadrant dc-servo drive; gravitation control; innovative unicycle; observer-based drive-control; permanent exited dc-motor; self-balanced vehicles; speed control; torque control; Automatic control; Axles; Electric variables control; Electric vehicles; Gravity; Mechanical variables control; Rubber; Torque control; Vehicle driving; Wheels;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347353
