지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 발행연도
- 2015
- 저작권
- 한국항공대학교 논문은 저작권에 의해 보호받습니다.
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초록· 키워드
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Two-wheeled balancing mobile robot has small size and high maneuverability by two wheeled driving. However, according to driving condition, these advantages cause several problems to the robot. First of all, lateral instability happens by lateral acceleration reducing ride quality and turning performance when the robot is turning or driving on slope. The robot can even be rolled over at high acceleration. Secondly, longitudinal instability takes place by characteristics of inverted pendulum and underactuation system. Because the position of CoM(Center of Mass) is on the wheel axis and the number of actuators is less than the number of control objectives, the robot is prone to disturbance. Finally, yaw instability is generated by differential type turning which uses difference of velocity of two wheels without steering system. Consequently, the robot cannot maintain its performance of yaw stability when the robot drives on uneven ground.
This paper suggests three methods to solve each problem. To solve lateral instability, tilting method is mechanically applied to the two-wheeled balancing mobile robot. Tilting method, which is a mean of moving the CoM, is an effective way to reduce the lateral acceleration. DOBs, which attenuate the effect of disturbance, are designed to get better longitudinal and yaw stability. Especially, the DOB structure and compensation of disturbance for inverted pendulum and underactuation system is proposed by considering nonlinearity and input coupling of the robot.
This paper suggests three methods to solve each problem. To solve lateral instability, tilting method is mechanically applied to the two-wheeled balancing mobile robot. Tilting method, which is a mean of moving the CoM, is an effective way to reduce the lateral acceleration. DOBs, which attenuate the effect of disturbance, are designed to get better longitudinal and yaw stability. Especially, the DOB structure and compensation of disturbance for inverted pendulum and underactuation system is proposed by considering nonlinearity and input coupling of the robot.
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