Velocity and Position Control of a Parallel Biwheel Vehicle Driven with a Stepping Motor.

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  • スライディングモードにより姿勢安定化したステッピングモータ駆動平行２輪車の速度・位置制御
  • スライディング モード ニ ヨリ シセイ アンテイカシタ ステッピング モータ

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Abstract

Translational motion control of a parallel biwheel vehicle (PBV), which is driven with a stepping motor operated in an open-loop mode, is described. The posture of the PBV is regulated by a discrete time sliding mode controller. A zero point offset on the inclination angle of the PBV is introduced to trigger and to control the translational motion of the PBV, since a conventional sliding mode servo system is not controllable if the angular velocity of the PBV wheel is selected as the reference input. The velocity and position of the PBV can be regulated through the offset by additional PID and PD controllers. For a bipolar square wave velocity reference, the velocity of the PBV can quickly follow the reference signal and the PBV can run with fairly constant velocity. For a bipolar square wave position reference, the PBV shows a fast step-like response followed by a somewhat slow one bound on a sliding surface. A conflict between the PID and PD motion controllers and the discrete sliding mode posture controller occurs when the position of the PBV settles toward the reference position.

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