Method for determination of interaction between a two-wheeled self-balancing vehicle and its rider

摘要

A two-wheeled self-balancing vehicle (the com-mercial version is called the Segway?) is a device inwhich acceleration of a vehicle is controlled by an appro-priate balancing of the rider’s body. The rider's interactionwith the vehicle’s platform causes the vehicle to lean; theon-board computer records it and on that basis controls thevehicle’s motors. The rider-vehicle interaction consists inapplying torque by the rider to the vehicle’s platform,causing its rotation. The control method of such a system isvery similar to the problem of stabilizing the two-wheeledinverted pendulum, see for example [1-3]. There are manypapers describing the theory of TWSBV (a two-wheeledself-balancing vehicle), where the main attention is fo-cused on the problem of stability of an already leaningvehicle [4-8], and a mathematical model of the vehicle isapproximated by a two-wheeled inverted pendulum. Thisapproach is correct if the model is used only to determinethe stability control of the vehicle in the upright position.Such a model has also been used in this work, but only inorder to determine the motor control. At this point thequestion arises whether the model of a two-wheeled self-balancing vehicle with a rider can be completely approxi-mated by two-wheeled inverted pendulum model.