Abstract
A mobile inverted pendulum (MIP) draws attention as a next-generation energy saving vehicle especially for urban life because it is energy-efficient to transport a person and has a small footprint. It is important for the MIP to run safely on various types of roads. However, there are few studies on the MIP considering slopes or steps. We focus on a change of slope angle and aim to improve safety when the MIP runs on such a road. To achieve this goal, a simulation model of the MIP which runs on a road with a change of slope angle is constructed. This simulation model introduces constraint contact formulation to consider change of a contact point between the wheel and the ground. Motion of the MIP is analyzed when it runs up or down the road. The results of the analyses indicate differences of motion caused by running velocity and feedback gains. Based on the results, we show the existence of the feedback gain which has good controlled performance focusing on behavior of pendulum angle, acceleration of human body and running velocity, and the guideline of control system design considering running on a road with a change of slope angle.
| Original language | English |
|---|---|
| Pages (from-to) | 1441-1452 |
| Number of pages | 12 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 79 |
| Issue number | 801 |
| DOIs | |
| Publication status | Published - 2013 |
| Externally published | Yes |
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Keywords
- Mobile inverted pendulum
- Multibody dynamics
- Optimal control
- Slope angle
- Vehicle dynamics
ASJC Scopus subject areas
- Mechanical Engineering
- Mechanics of Materials
- Industrial and Manufacturing Engineering
Cite this
Modeling and motion analysis of a mobile inverted pendulum considering a change of slope angle. / Sugano, Toshiaki; Yokoyama, Kazuto; Suzuki, Takuma; Takahashi, Masaki.
In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 79, No. 801, 2013, p. 1441-1452.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Modeling and motion analysis of a mobile inverted pendulum considering a change of slope angle
AU - Sugano, Toshiaki
AU - Yokoyama, Kazuto
AU - Suzuki, Takuma
AU - Takahashi, Masaki
PY - 2013
Y1 - 2013
N2 - A mobile inverted pendulum (MIP) draws attention as a next-generation energy saving vehicle especially for urban life because it is energy-efficient to transport a person and has a small footprint. It is important for the MIP to run safely on various types of roads. However, there are few studies on the MIP considering slopes or steps. We focus on a change of slope angle and aim to improve safety when the MIP runs on such a road. To achieve this goal, a simulation model of the MIP which runs on a road with a change of slope angle is constructed. This simulation model introduces constraint contact formulation to consider change of a contact point between the wheel and the ground. Motion of the MIP is analyzed when it runs up or down the road. The results of the analyses indicate differences of motion caused by running velocity and feedback gains. Based on the results, we show the existence of the feedback gain which has good controlled performance focusing on behavior of pendulum angle, acceleration of human body and running velocity, and the guideline of control system design considering running on a road with a change of slope angle.
AB - A mobile inverted pendulum (MIP) draws attention as a next-generation energy saving vehicle especially for urban life because it is energy-efficient to transport a person and has a small footprint. It is important for the MIP to run safely on various types of roads. However, there are few studies on the MIP considering slopes or steps. We focus on a change of slope angle and aim to improve safety when the MIP runs on such a road. To achieve this goal, a simulation model of the MIP which runs on a road with a change of slope angle is constructed. This simulation model introduces constraint contact formulation to consider change of a contact point between the wheel and the ground. Motion of the MIP is analyzed when it runs up or down the road. The results of the analyses indicate differences of motion caused by running velocity and feedback gains. Based on the results, we show the existence of the feedback gain which has good controlled performance focusing on behavior of pendulum angle, acceleration of human body and running velocity, and the guideline of control system design considering running on a road with a change of slope angle.
KW - Mobile inverted pendulum
KW - Multibody dynamics
KW - Optimal control
KW - Slope angle
KW - Vehicle dynamics
UR - http://www.scopus.com/inward/record.url?scp=84879950723&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879950723&partnerID=8YFLogxK
U2 - 10.1299/kikaic.79.1441
DO - 10.1299/kikaic.79.1441
M3 - Article
VL - 79
SP - 1441
EP - 1452
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 801
ER -