NDLI: Manned self-balanced vehicle control system based on pressure sensors for steering

Content Provider	IET Digital Library
Author	Xia, Kun Li, Zheng Tang, Yusong Ye, Yanhong Zhu, Feng
Abstract	A new steering mechanical structure and an improved control method of the manned self-balanced vehicle are presented in this Letter. An effective method is introduced to calculate the real-time inclination of the vehicle. Then, the integrating inclination of the vehicle could be obtained by the complementary filter and proportional derivative (PD) algorithm. In addition, the control system could be regarded as a linear superposition of three parts, including the balance control, the speed control and the steering control. Moreover, the proportional, integral and derivative (PID) parameters of the whole control system are different under different operational conditions. Furthermore, the pressure sensors placed on the left and right pedals could detect the change of the weight, which simplifies the mechanical structure and improves the flexibility of the manned steering. The experiments in the prototype are designed to prove the steering structure and the improved method.
Starting Page	748
Ending Page	750
Page Count	3
ISSN	00135194
Volume Number	54
e-ISSN	1350911X
Issue Number	Issue 12, Jun (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/el/54/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/el.2017.4835
Journal	Electronics Letters
Publisher Date	2018-05-14
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Balance Control Complementary Filter Control System Analysis Control System Synthesis Improved Control Method Left Pedals Linear Superposition Linear System Manned Self-balanced Vehicle Control System Manned Steering PD Algorithm PID Parameter Pressure Sonsor Real-time Vehicle Inclination Right Pedals Rotation Control Speed Control Steering Control Steering Mechanical Structure Steering Structure Steering System Synthesis Method Three-term Control Transportation System Control Vehicle Vehicle Mechanics Velocity Velocity Control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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