Modeling, Model Reduction, and Control of a Hands-Free Two-Wheeled Self-Balancing Scooter

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Author(s): Qiong Li (Purdue University, USA), Wangling Yu (Purdue University Northwest, USA)and H. Henry Zhang (Purdue University, USA)
Copyright: 2020
Pages: 18
Source title: Advanced Robotics and Intelligent Automation in Manufacturing
Source Author(s)/Editor(s): Maki K. Habib (The American University in Cairo, Egypt)
DOI: 10.4018/978-1-7998-1382-8.ch007

Keywords: Engineering Science Reference / Knowledge Management and Library Science / Manufacturing / Robotics and Automated Systems

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Abstract

Designing a two-wheeled self-balancing scooter involves in the synergistic approach of multidisciplinary engineering fields with mutual relationships of power transmission, mass transmission, and information transmission. The scooter consists of several subsystems and forms a large-scale system. The mathematical models are in the complex algebraic and differential equations in the form of high dimension. The complexity of its controller renders difficulties in its realization due to the limit of iteration period of real time control. Routh model reduction technique is employed to convert the original high-dimensional mathematical model into a simplified lower dimensional form. The modeling is derived using a unified variational method for both mechanical and electrical subsystems of the scooter, and for the electronic components equivalent circuit method is adopted. Simulations of the system response are based on the reduced model and its control design. A prototype is developed and realized with Matlab-Labview simulation and control environment.

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Modeling, Model Reduction, and Control of a Hands-Free Two-Wheeled Self-Balancing Scooter

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