控制系统数字仿真与CAD 第3版 教学课件 作者 张晓华 主编 两轮车IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,.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 ICTURE the scene in a café somewhere in Lausanne, PSwitzerland. 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- Fig. 1. Definition of state-space variables and disturbances. pled to a planetary gearbox for each wheel,