Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Dynamic Modeling of a Wheeled Inverted Pendulum for Inclined Road and Changing Its Center of Gravity

주행면 경사와 무게중심 변동이 존재하는 차륜형 역진자의 거동 모델링

  • Received : 2011.10.04
  • Accepted : 2012.01.20
  • Published : 2012.02.25
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Abstract

In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.

본 논문에서는 무게중심 변동이 존재하는 차륜형 역진자가 경사면을 주행하는 경우에 대한 일반적인 운동방정식이 유도되었고 기존 역진자와의 차별점들이 고찰되었다. 차륜형 역진자는 점유면적이 작은 특성 때문에 협소한 장소에서 운용되는 다양한 분야에서 이동 플랫폼으로 채용되고 있다. 차륜형 역진자는 기존 역진자의 불안정한 특성을 그대로 계승하고 있으며, 넘어지지 않고 직립하게 위해서 지속적인 제어가 실행되어야 한다. 차륜형 역진자용 고성능 제어기를 설계하기 위해서는 다양한 환경과 운용조건에서 동작하는 차륜형 역진자를 대상으로 하는 운동방정식과 그 특성을 고려하는 것은 필수적이다.

Keywords

References

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