SUMMARYThis study proposes the use of a series elastic actuator (SEA) in a Segway to improve the stability of the tires during linear and curved driving, thus improving the comfort of the driver and ensuring driving stability. Recently, Segway has been developed continuously for intelligent mobile vehicles and the performance of Segway is being enhanced. Therefore, safety factors during the Segway driving have been considered seriously. In most of the developments and studies on Segway, the optimization and improvement of the controller component have been tackled and there are few studies on the safety devices and the stability of driving. The impact and vibration generated from the ground due to uneven road surfaces considerably influence the force exerted on the tire, which further affects driving stability. This research focuses on the control of the SEA based on the tire model to improve the driving stability of Segway. The performance of the proposed algorithm to improve the stability of the driver has been verified by straight and curved paths driving experiments with the tire model.

中文翻译：

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基于 SEA 轮胎模型的 Segway 稳定性改进

摘要本研究提出在 Segway 中使用串联弹性致动器 (SEA) 来提高轮胎在直线和曲线行驶过程中的稳定性，从而提高驾驶员的舒适性并确保行驶稳定性。近期，Segway 一直在为智能移动车辆开发，Segway 的性能也在不断提升。因此，Segway 驾驶过程中的安全因素已被认真考虑。在 Segway 的大部分开发和研究中，控制器组件的优化和改进都已解决，而对安全装置和行驶稳定性的研究很少。由于路面不平而从地面产生的冲击和振动极大地影响了施加在轮胎上的力，从而进一步影响了行驶稳定性。本研究侧重于基于轮胎模型的 SEA 控制，以提高 Segway 的行驶稳定性。所提算法提高驾驶员稳定性的性能已通过轮胎模型的直线和曲线路径驾驶实验得到验证。