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Precise Curve Motion Control of a Segway by Compensating the Centrifugal Force with SEAs
International Journal of Control, Automation and Systems ( IF 3.2 ) Pub Date : 2021-05-19 , DOI: 10.1007/s12555-019-1076-3
Jin-Uk Bang , Ji-Hyeon Kim , Jangmyung Lee

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway’s body to improve the cornering characteristics during turning. To ensure Segway’s driving safety in the curvature motion, it is necessary to compensate for the centrifugal force by tilting the footplate to generate inward force by the reaction force from the footplate. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high-speed curvature motion.



中文翻译:

通过SEA补偿离心力来精确控制赛格威的曲线运动

在本文中,通过安装在Segway车身上的串联弹性致动器(SEA)来调整踏板的倾斜度,以补偿离心力,从而改善转弯时的转弯特性。为了确保Segway在曲率运动中的行驶安全,必须通过倾斜踏板来补偿离心力,以通过踏板产生的反作用力向内产生力。当踏板在SEA的控制下倾斜时,两个车轮上的垂直负载已相应更改。车轮的摩擦力已通过垂直力的改变而改变,这需要调节驱动扭矩以保持曲率轨迹。即,考虑到由旋转运动引起的摩擦力,已经控制驱动转矩以保持曲率轨迹。

更新日期:2021-05-19
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