Abstract :
This paper presents the results on the
modelling and control of a two wheeled robotic mobility
platform that achieves automatic self balance detecting the
weight shift of the operator. This vehicle is principally a
self balancing machine whose wheels share a common
axis. Self balance is achieved by accelerating the body
enabling pseudo forces to act upon it thus bringing the
body to its mean position. We have employed Newton?s
laws of motion to determine the acceleration required to
achieve self balance. This condition of achieving self
balance has been put to use by us to achieve locomotion.
For oscillation-free motion a new concept called cut-off
angle has also been introduced. This machine has
numerous advantages which make it an asset considering
the problems faced by present day commuters especially on
crowded Indian roads where pollution, fuel crisis and
traffic congestion are the major hitches. Being a battery
operated vehicle there is zero emission. Moreover, as both
wheels share a common axis, the turning radius can be
easily minimised to zero. Apart from this a new method to
calculate the net moment of inertia of vehicles has also
been discussed in this paper.
Keyword :
Segway; pseudoforce; moment of inertia; cutoff angle