Human-machine Controlling of One-axis Two-wheel Personal Electric Vehicle in the Case of Liner Movement

: pp. 74 - 84
Lviv Polytechnic National University
Lviv Polytechnic National University
Lviv Polytechnic National University

The paper deals with a new kind of personal electric vehicle (EV) — a segway or a gyroboard, in which a user, in motion control, takes direct part in balancing of his position with respect to the axis connecting two wheels with self electric drives. Such EV is a complex human-machine system, whose work depends on human commands and on the corresponding reaction of the movement automatic control system (ACS). Therefore, for the development of the latter, it is necessary to know the workregularities of the electromechanical system of this EV, as well as the skills in management acquired by the user. Based on the Lagrange II equation, the mathematical model of the motion kinematics of such an EV in the form of a nonlinear system of interconnected differential equations of the second order is developed. As systems of electric drives of the wheels, synchronous machines with permanent magnets are used and controlled by voltage transistor inverters based on the positions of their rotors in accordance with signals from encoders linked with the wheels. The references on the electromagnetic torques of the wheel drives are formed by the PD regulators based on the signals from the sensor system — solid-state gyroscope and accelerometer, which allow to determine the angle of inclination of the user’s body. According to the developed functional scheme of the system «user — gyroboard», the simulation computer model is created in the environment of Matlab/Simulink, which includes the developed mathematical model of kinematics motion of gyrobord with the user, simulates the behavior of the latter, as well as the work of ACS of wheels electric drives. The rational settings of the regulators are defined from this model. As a result of the computer simulation of the cycle of the gyroboard motion, a series of waveforms of the main variables describing the dynamics of the system was obtained. They made it possible to understand the laws of interaction between user and machine and showed the efficiency of developed approaches to the construction of a gyroboard control system.

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