Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Steering System in a Self-Balancing Electric Scooter

역진자형 전동 스쿠터의 조향 시스템

  • Choi, Yong Joon (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Ryoo, Jung Rae (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Doh, Tae-Yong (Department of Electronics and Control Engineering, Hanbat National University)
  • 최용준 (서울과학기술대학교 전기정보공학과) ;
  • 류정래 (서울과학기술대학교 전기정보공학과) ;
  • 도태용 (한밭대학교 전자.제어공학과)
  • Received : 2014.03.20
  • Accepted : 2014.06.16
  • Published : 2014.09.01
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Abstract

In this paper, a new steering system for a self-balancing electric scooter is proposed with an intuitive steering command input method, where the steering command is generated from the rider's motion of shifting body to move the center of gravity toward the rotational direction. For the purpose, weight distributions on the rider's feet are measured using force sensors placed beneath the rider's feet, and the difference is applied to a steering control system. Stability of the steering system and resultant radius of gyration is investigated by modeling the steering system in consideration of the rider's motion and centrifugal force. The proposed steering system is applied to experiments, and the results are presented to prove the validity of the proposed method.

Keywords

References

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