Title :
Stabilization of an IP-vehicle
Author_Institution :
Univ. of Appl. Sci., Bielefeld
Abstract :
This paper presents an innovative unicycle which is powered by a fourquadrant dc-servo drive consisting of a permanent exited dc-motor and a 4q-chopper converter. The control of gravitation, speed and torque is done by an observer-based cascade structure which stabilizes the unicycle automatically and places the driver´s position in such a way that the centre of gravity is always above the axle of the wheel. As electric drive systems are able to correct the tilt angle nearly one hundred times a second these electric one-wheelers can stand absolutely alone just like ghostly balanced
Keywords :
DC motor drives; angular velocity control; cascade systems; electric vehicles; gravity; observers; power convertors; servomechanisms; torque control; 4q-chopper converter; IP-vehicle; centre of gravity; electric drive systems; electric one-wheelers; fourquadrant dc-servo drive; gravitation control; innovative unicycle; observer-based cascade structure; permanent exited dc-motor; speed control; stabilization; torque control; Automatic control; Axles; Electric variables control; Electric vehicles; Gravity; Mechanical variables control; Rubber; Torque control; Virtual reality; Wheels;
Conference_Titel :
Industrial Technology, 2005. ICIT 2005. IEEE International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
0-7803-9484-4
DOI :
10.1109/ICIT.2005.1600800
