한국생산제조학회 학술지 영문 홈페이지
[ Special Issue : Engineering Design of ADBL ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.202-209
ISSN: 2508-5107 (Online)
Print publication date 15 Jun 2020
Received 12 Mar 2020 Revised 06 May 2020 Accepted 07 May 2020
DOI: https://doi.org/10.7735/ksmte.2020.29.3.202

스스로 일어나는 세그웨이 형태의 밸런싱 로봇의 설계 및 제작

김기현a, * ; 김진우a ; 김지호a ; 임충혁a
Design and Control of Segway-type Balancing Robot that can Stand up
Ki-Hyeon Kima, * ; Jin-woo Kima ; Ji-Ho Kima ; Chung-Hyuk Yima
aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology

Correspondence to: *Tel.: +82-2-970-6345 E-mail address: chyim@seoultech.ac.kr (Chung-Hyuk Yim).

Abstract

StuntBike is a robot that can stand up on its own using only the torque of the motor. Unlike previous works, StuntBike has the form of a tricycle with unstable characteristics on the pitch axis to achieve standing-up actions with a small torque. As a control scheme, we utilize a 3-stage cascade proportional-integralderivative (PID) controller which outperforms a conventional 1-stage PID controller in terms of control performance. Based on the proposed design, we demonstrated the feasibility of standing-up action and attitude control from the simulation. Next, we present the control result from experiments, which suggests that stand-up action and attitude control is possible. Furthermore, we discuss some factors that impact the performances of the system and an overview of supplementary work.

Keywords:

Inverted pendulum, Cascade control, PID control, Time delay, Nonlinear effect

Acknowledgments

본 연구는 서울과학기술대학교 교내 일반과제 연구비 지원으로 수행되었습니다.

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Ki-Hyeon Kim

B.Sc candidate in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine / Control.

E-mail: rlgus1394@gmail.com

Jin-Woo Kim

B.Sc candidate in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine.

E-mail: kjwh004@gmail.com

Ji-Ho Kim

B.Sc candidate in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine.

E-mail: jck1461@naver.com

Choong-Hyuk Yim

Professor in the Department of Mechanical system design, Seoul National University of Science and Technology.His research interest is Machine / Control.

E-mail: chyim@seoultech.ac.kr