Dynamics and control of a reaction mass actuator with centering springs

Planar Dynamics and Control of a Two-Wheeled Single-Axle Vehicle

10.1115/imece1999-0344 ◽

1999 ◽

Author(s):

Michael S. Abbott ◽

R. Randall Soper ◽

Donald E. Grove ◽

Charles F. Reinholtz

Keyword(s):

Vehicle Dynamics ◽

Reaction Mass ◽

Step Response ◽

Robust Performance ◽

Nonlinear Characteristics ◽

Wheeled Vehicle ◽

Dynamics And Control ◽

Turn Radius ◽

And Control ◽

Inherent Stability

Abstract A two-wheeled, uniaxial, differentially driven vehicle possesses many salient advantages when compared to traditional vehicle designs. In particular, high traction factor, zero turn radius, and inherent stability are characteristics of this configuration. Drive torque is provided via a swinging reaction mass hanging below the axle. While mechanically simple, the resulting nonlinear vehicle dynamics can be quite complex. This work develops a planar dynamic model for the two-wheeled vehicle using traditional Hamiltonian techniques. Numerical simulations of the system step response demonstrate behavioral bifurcation and other nonlinear characteristics. However, the simple linear proportional-derivative control designed herein provides robust performance over steady slopes.

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Dynamics and Control of the Reaction Mass Pendulum (RMP) as a 3D Multibody System: Application to Humanoid Modeling

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1 ◽

10.1115/dscc2011-6086 ◽

2011 ◽

Cited By ~ 2

Author(s):

Amit K. Sanyal ◽

Ambarish Goswami

Keyword(s):

Inverted Pendulum ◽

Multibody System ◽

Humanoid Robots ◽

Reaction Mass ◽

Underactuated System ◽

Rotational Inertia ◽

Control Scheme ◽

Unstable Set ◽

Dynamics And Control ◽

And Control

Humans and humanoid robots are often modeled with different types of inverted pendulum models in order to simplify the dynamic analysis of gait, balance and fall. We have earlier introduced the Reaction Mass Pendulum (RMP), an extension of the traditional inverted pendulum models, which explicitly captures the variable rotational inertia and angular momentum of the human or humanoid. In this paper we present a thorough analysis of the RMP, which is treated as a 3D multibody system in its own right. We derive the complete kinematics and dynamics equations of the RMP system and obtain its equilibrium conditions. Next we present a nonlinear control scheme that stabilizes this underactuated system about an unstable set with a vertically upright configuration for the “leg” of the RMP. Finally we demonstrate the effectiveness of this controller in simulation.

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Model of Dynamics and Control of Tracking-Searching Head, Placed on a Moving Object

Journal of Automation and Information Sciences ◽

10.1615/jautomatinfscien.v44.i5.40 ◽

2012 ◽

Vol 44 (5) ◽

pp. 38-47 ◽

Cited By ~ 7

Author(s):

I. Krzysztofik ◽

Z. Koruba

Keyword(s):

Moving Object ◽

Dynamics And Control ◽

And Control

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PROJECT ON ELECTRONIC STEERING SYSYTEM

SMART MOVES JOURNAL IJOSCIENCE ◽

10.24113/ijoscience.v4i5.140 ◽

2018 ◽

Vol 4 (5) ◽

pp. 7

Author(s):

Shivam Dwivedi ◽

Prof. Vikas Gupta

Keyword(s):

Steering System ◽

Essential Elements ◽

Variable Pressure ◽

Passenger Cars ◽

Control Techniques ◽

Steering Mechanism ◽

Dynamics And Control ◽

Active Research ◽

Electronic Steering ◽

And Control

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

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