Title:
Modeling and dynamic analysis of a two-wheeled inverted-pendulum

Simple item page
dc.contributor.advisor Singhose, William E.
dc.contributor.author Castro, Arnoldo en_US
dc.contributor.committeeMember Wayne Whiteman
dc.contributor.committeeMember Lee, Kok-Meng
dc.contributor.department Mechanical Engineering en_US
dc.date.accessioned 2012-09-20T18:24:09Z
dc.date.available 2012-09-20T18:24:09Z
dc.date.issued 2012-07-06 en_US
dc.description.abstract There is a need for smaller and more economic transportation systems. Two-wheeled inverted-pendulum machines, such as the Segway, have been proposed to address this need. However, the Segway places the operator on top of a naturally unstable platform that is stabilized by means of a control system. The control stability of the Segway can be severely affected when minor disturbances or unanticipated conditions arise. In this thesis, a dynamic model of a Segway is developed and used in simulations of various conditions that can arise during normal use. The dynamic model of a general two-wheeled inverted pendulum and human rider is presented. Initial estimates of the parameters were calculated or obtained from other references. The results from numerous experiments are presented and used to develop a better understanding of the dynamics of the vehicle. The experimental data was then used to adjust the model parameters to match the dynamics of a real Segway Human Transporter. Finally, the model was used to simulate various failure conditions. The simulations provide a better understanding of how these conditions arise, and help identify which parameters play an important role in their outcome. en_US
dc.description.degree MS en_US
dc.identifier.uri http://hdl.handle.net/1853/44897
dc.publisher Georgia Institute of Technology en_US
dc.subject Controls en_US
dc.subject Dynamics en_US
dc.subject Two-wheeled inverted pendulum en_US
dc.subject Inverted pendulum en_US
dc.subject Dynamic modeling en_US
dc.subject Multibody dynamics en_US
dc.subject.lcsh Pendulum
dc.subject.lcsh Scooters Dynamics
dc.subject.lcsh Motor scooters Dynamics
dc.title Modeling and dynamic analysis of a two-wheeled inverted-pendulum en_US
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Singhose, William E.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication c5aa5269-887b-41cf-b472-9c7e4a4dd8e0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
castro_arnoldo_201208_mast.pdf
Size:
8.08 MB
Format:
Adobe Portable Document Format
Description:
Download
Collections
Theses and Dissertations