两轮电动车两轮车IEEETRANSACTIONSONINDUSTRIALELECTRONICS,课件.pdfVIP

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 49, NO. 1, FEBRUARY 2002 107 JOE: A Mobile, Inverted Pendulum Felix Grasser, Aldo D’Arrigo, Silvio Colombi, Member, IEEE, and Alfred C. Rufer, Senior Member, IEEE Abstract—The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a dc motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state-space controllers, pilots the motors so as to keep the system in equilibrium. See http://leiwww.epfl.ch/joe for a video demonstration of JOE. Index Terms—Digital signal processor, gyroscope, modeling, robotics, state-space control. I. INTRODUCTION P ICTURE the scene in a café somewhere in Lausanne, Switzerland. The members of the team of the “Industrial Electronics Laboratory” are having a drink or two when sud- denly someone comes up with an idea: “Wouldn’t it be fun to build a vehicle that balances its driver on two coaxial wheels? Some sort of an electronically controlled monocycle.” It was based on that idea that we set out to create a truly mobile, autonomous inverted pendulum. Even though the theoretical approach is not simple, simula- tion results have rapidly proven the feasibility of such a concept. In order to reduce cost as well as danger for the test pilots, it was decided on building a scaled-down prototype carrying a weight instead of a driver. The vehicle is composed of a chassis carrying a dc motor cou- pled to a planetary gearbox for each wheel, the digital signal pro- cessor (DSP) board used to implement the controller, the power amplifiers for the motors, the necessary sensors to measure the vehicle’s states, the receiver for the radio control unit, as well as a vertical steel bar. The batteries are bolted onto the steel bar, their mass “simulating” a driver. The wheels of the vehic