Steering performance of an inverted pendulum vehicle with pedals as a personal mobility vehicle

作     者：Chihiro Nakagawa Kimihiko Nakano Yoshihiro Suda Yuki Hirayama 

作者机构：Mechanical Engineering Osaka Prefecture University Interdisciplinary Information Studies University of Tokyo Institute of Industrial Science University of Tokyo 

出 版 物：《Theoretical & Applied Mechanics Letters》 (力学快报（英文版）)

年 卷 期：2013年第3卷第1期

页      面：71-76页

学科分类：08[工学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 0830[工学-环境科学与工程（可授工学、理学、农学学位）] 0707[理学-海洋科学] 082304[工学-载运工具运用工程] 0815[工学-水利工程] 080204[工学-车辆工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0813[工学-建筑学] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 0814[工学-土木工程] 0825[工学-航空宇航科学与技术] 0836[工学-生物工程] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 0823[工学-交通运输工程] 

主　　题：steering control stability inverted pendulum vehicle 

摘      要：From the viewpoints of environmental protection, support for the aged and ensuring the right to mobility, there is a need to develop a new type of mobility vehicle that provides more effective transportation. The authors propose an inverted pendulum vehicle with pedals as one of the forms of personal mobility vehicles （PMVs）. In this paper, the steering performance of the inverted pendulum vehicle with pedals is discussed based on experiments on a prototype. From the experimental results, it was confirmed that the errors from the five subjects for the target trajectory and the five-grade evaluation of the maneuverability were similar. Finally, we created an inverted pendulum vehicle with pedals to which was added a reaction actuator for the steering system. From the experimental results, it was found that setting appropriate feedback gains for the handle steering angle and its rate of rotation, which control the right and left wheel driving torques, resulted in greatly improved maneuverability. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi：10.1063/2.1301309]