스스로 일어나는 세그웨이 형태의 밸런싱 로봇의 설계 및 제작
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-integral-derivative (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 effectAcknowledgments
본 연구는 서울과학기술대학교 교내 일반과제 연구비 지원으로 수행되었습니다.
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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
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
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
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