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Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 33 , No. 1

[Paper List]


[ Special Issue : Engineering Design of ADBL ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp. 202-209
Abbreviation: J. Korean Soc. Manuf. Technol. Eng.
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
김기현^a ; 김진우^a ; 김지호^a ; 임충혁^a^{, *}

Design and Control of Segway-type Balancing Robot that can Stand up
Ki-Hyeon Kim^a ; Jin-woo Kim^a ; Ji-Ho Kim^a ; Chung-Hyuk Yim^a^{, *}
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).



Funding Information ▼ Seoul National University of Science and Technology

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 effect

Acknowledgments

본 연구는 서울과학기술대학교 교내 일반과제 연구비 지원으로 수행되었습니다.

References


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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