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Digital Library of the
European Council for Modelling and Simulation |
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Title: |
Modelling,
Simulation And Balance Control Of A Two-Wheeled Robotic Machine With Static
Variation In Load Position |
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Authors: |
Khaled M. K. Goher, M. O. Tokhi |
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Published in:
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ECMS
2008 Proceedings Edited
by: Loucas S. Louca, Yiorgos Chrysanthou, Zuzana Oplatkova, Khalid Al-Begain ISBN:
978-0-9553018-6-5 Doi: 10.7148/2008 22nd
European Conference on Modelling and Simulation, Nicosia, June
3-6, 2008 |
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Citation
format: |
Goher, K. M. K., & Tokhi, M. O. (2008). Modelling,
Simulation And Balance Control Of A Two-Wheeled Robotic Machine With Static
Variation In Load Position. ECMS 2008 Proceedings edited by: L. S. Louca, Y. Chrysanthou, Z. Oplatkova, K. Al-Begain
(pp. 181-187). European Council for Modeling and Simulation. doi:10.7148/2008-0181 |
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DOI: |
http://dx.doi.org/10.7148/2008-0181 |
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Abstract: |
This paper focuses on the design
and implementation of a control algorithm for balancing of a two-wheeled
robotic machine (TWRM). The machine comprises a rod on an axle
incorporating two wheels. The balancing of the rod in the upright position is
achieved using a proportional-derivative (PD) controller. The Newton- Euler
dynamic formulation is used to develop a mathematical model of the system. Matlab Simulink is used as a
simulation environment. The intermediate body (IB) is considered to be in the
upright position. An external disturbance force is applied at different
locations of the IB in order to test the robustness of the developed
controller. A payload is considered, and this is attached at different
locations along the rod. Investigations are carried out on the effect of
changing the duration and location of disturbance force, and changing the
location of the payload on the system in the balancing mode. Two PD
controllers are developed, one for the angular position of the rod and one
for the cart linear displacement. Simulation results are presented assessing
the performances of the controllers. |
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