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Journal of Mechanical Science and Technology

, Volume 33, Issue 11, pp 5449–5459 | Cite as

High speed segway control with series elastic actuator for driving stability improvement

  • Haneul Yun
  • Jinuk Bang
  • Jihyeon Kim
  • Jangmyung LeeEmail author
Article
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Abstract

Recently, Segway has been developed continuously for intelligent mobile vehicles and the performance of Segway is being enhanced. In particular, high-speed Segway must be controlled for maintaining stability in dangerous situations. Therefore, safety factors during driving situation have been considered seriously. In most of the developments and studies on Segway, however, the optimization and improvement of the controller component have been tackled and there are few studies on the safety devices and the stability of driving. Therefore, in this research we focus on the control of the SEA to improve the driving stability of high-speed Segway. The impact and vibration generated from the ground due to uneven road surfaces considerably influence the driving safety. So, by measuring and compensating for the external forces transmitted to the Segway using the SEA, a comfort of the driver can be improved and better driving stability can be ensured. By linear and curved path driving experiments, the performance of the proposed algorithm to improve the stability has been verified.

Keywords

Compliance actuator High-speed segway Personal mobility Series elastic actuator (SEA) Stability improvement 

Nomenclature

mm

Mass of the DC motor

mb

Mass of the ball-screw

xM

Displacement generated by the DC motor

xL

Displacement of the load part

bM

Damping coefficient of the DC motor

bL

Damping coefficient of the load

kS

The constant of linear spring

mM

Combined mass of motor and ball-screw

FM

Force generated by the DC motor

FL

Force acting on the spring

Fext

External force acting on the load part of SEA

PM(s)

Laplace transform result of motor system

PS(s)

Laplace transform result of spring system

PL(s)

Laplace transform result of load system

Kp, Kd

The proportional and differential gain

Fd

Desired input of PD controller

L

Distance of between the left and right wheels

VL, VR

Velocities of left and right wheels

R

A radius of rotation

a⃗

Acceleration of the Segway

T

The time

Fi

Inertial force acting on the driver

F

Force acting on the Segway

ν⃗

Velocity of Segway

n⃗

The normal force

g⃗

The acceleration of gravity

m

Mass of the Segway

θP

Angle for pitch tilting control

Fc

The centripetal force

a⃗c

The centripetal acceleration

ω⃗

Wheel velocity

θR

Angle for roll tilting control

θ

Final output of motion control part

XMC

SEA command generated by motion control part

XEC

SEA command generated by external force compensation part

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Notes

Acknowledgments

This material is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. 10062443’ 40 km/h of balancing robot with active suspension’.

This research was funded and conducted under ⌈the Competency Development Program for Industry Specialists⌉ of the Korean Ministry of Trade, Industry and Energy (MOTIE), operated by Korea Institute for Advancement of Technology (KIAT) (No. P0008473, The development of high skilled and innovative manpower to lead the Innovation based on Robot).

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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  • Haneul Yun
    • 1
  • Jinuk Bang
    • 1
  • Jihyeon Kim
    • 1
  • Jangmyung Lee
    • 1
    Email author
  1. 1.Dept. of Electronics EngineeringPusan National UniversityBusanKorea

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