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

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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.

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Abbreviations

m m :

Mass of the DC motor

m b :

Mass of the ball-screw

x M :

Displacement generated by the DC motor

x L :

Displacement of the load part

b M :

Damping coefficient of the DC motor

b L :

Damping coefficient of the load

k S :

The constant of linear spring

m M :

Combined mass of motor and ball-screw

F M :

Force generated by the DC motor

F L :

Force acting on the spring

F ext :

External force acting on the load part of SEA

P M (s) :

Laplace transform result of motor system

P S (s) :

Laplace transform result of spring system

P L (s) :

Laplace transform result of load system

K p, K d :

The proportional and differential gain

F d :

Desired input of PD controller

L :

Distance of between the left and right wheels

V L, V R :

Velocities of left and right wheels

R :

A radius of rotation

a⃗ :

Acceleration of the Segway

T :

The time

F i :

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

θ P :

Angle for pitch tilting control

F c :

The centripetal force

a⃗ c :

The centripetal acceleration

ω⃗ :

Wheel velocity

θ R :

Angle for roll tilting control

θ :

Final output of motion control part

X MC :

SEA command generated by motion control part

X EC :

SEA command generated by external force compensation part

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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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Authors and Affiliations

  1. Dept. of Electronics Engineering, Pusan National University, Busan, Korea

    Haneul Yun, Jinuk Bang, Jihyeon Kim & Jangmyung Lee

Authors
  1. Haneul Yun
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  2. Jinuk Bang
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  3. Jihyeon Kim
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  4. Jangmyung Lee
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Corresponding author

Correspondence to Jangmyung Lee.

Additional information

Recommended by Associate Editor Baek-Kyu Cho

Haneul Yun is currently working toward a Ph.D. degree in Dept. of Electronics Engineering, Pusan National University, Busan, Korea. He received his M.S. degree in Dept. of Electrical and Electronic Engineering from Pusan National University. His research interests include intelligent robot control, MCU application, Motor control, and Fuzzy and PID controller design.

Jinuk Bang is currently working toward a Ph.D. degree in Dept. of Electronics Engineering, Pusan National University, Busan, Korea. He received his M.S. degree in Dept. of Electrical and Electronic Engineering from Pusan National University. His research interests include MCU application, balancing control, intelligent robot system control.

Jihyeon Kim is currently working toward a M.S. degree in Dept. of Electronics Engineering, Pusan National University, Busan, Korea. She received her B.S. degree in Dept. of Electronic Engineering from Gyeongnam National University of Science and Technology. Her research interests include BLDC motor control, MCU application.

Jangmyung Lee is currently working as Professor in Dept. of Electronics Engineering, Pusan National University, Busan, Korea. He received his Ph.D. in Dept. of Computer Engineering from University of Southern California. His research interests include intelligent robot system design and control, MCU application, localization.

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Yun, H., Bang, J., Kim, J. et al. High speed segway control with series elastic actuator for driving stability improvement. J Mech Sci Technol 33, 5449–5459 (2019). https://doi.org/10.1007/s12206-019-1039-x

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  • DOI: https://doi.org/10.1007/s12206-019-1039-x

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