Dynamic Effects of Obstacles on Two-Wheeled Inverted-Pendulum Transporters

2015 ◽  
Author(s):  
John Harber ◽  
Christopher Adams ◽  
Arnoldo Castro ◽  
William Singhose
Keyword(s):  
Experimental Investigation ◽  
Control System ◽  
Inverted Pendulum ◽  
Mechanical Design ◽  
Vertical Direction ◽  
Dynamic Effects ◽  
Operating Environment ◽  
Wheeled Inverted Pendulum ◽  
Approach Speed ◽  
Small Footprint

Two-wheeled inverted pendulums can be used as personal transporters. Their maneuverability and small footprint give them some desirable properties for this application. However, given the unstable mechanical design and the complicated control system that is required, inverted pendulums make complex and unexpected motions in response to both movements of the rider and disturbances from the operating environment. These complex motions lead to dynamic hazards that may cause the rider to fall off or the device to fall over. To better understand some of the complex motions, the response of a two-wheeled inverted-pendulum transporter traveling over bumps of various sizes is studied. Three effects of riding over bumps are demonstrated through an experimental investigation. When striking a bump, the transporter may bounce in the vertical direction, depending on the approach speed and size of the bump. Bumps also cause the transporter to pitch forward. When striking a bump with one wheel, the transporter turns towards the bump. All three effects can act to destabilize the machine and rider.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

A Dynamics-Based Hazard Analysis of Inverted-Pendulum Human Transporters Using Data-Mined Information

2016 ◽  
Vol 2 (3) ◽  
Author(s):  
William Singhose ◽  
Christopher Adams ◽  
Dooroo Kim
Keyword(s):  
Inverted Pendulum ◽  
Mechanical Design ◽  
Hazard Analysis ◽  
The Internet ◽  
Detailed Knowledge ◽  
Operating Environment ◽  
Complex Dynamic ◽  
Wide Range ◽  
Simulation Results ◽  
Using Data

When a product is a complex dynamic system that interacts directly with a human, engineers must consider a wide range of possible motions and forces that the device could exert on the human. Such an analysis goes beyond a simple thought exercise and requires detailed knowledge about the system dynamics and the operating environment. This paper presents such an analysis of inverted-pendulum human transporters. The list of hazards is constructed by using knowledge of the dynamics and mechanical design obtained through simulation and experimentation. However, the dynamics are so complex that the list is augmented with hazards that are revealed by studying accident videos posted on the Internet. The severity of the hazards is estimated using an energy-based measurement of the hazard onset conditions as well as compounding factors from the mechanical design. In addition, experimental and simulation results of sample hazard conditions illustrate their danger and severity. The analysis reveals that inverted-pendulum human transporters have several hazards with unacceptable risk.

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