Dynamics of the Unicycle: Modelling and Experimental Verification: SpringerBriefs in Applied Sciences and Technology
Autor Michał Niełaczny, Barnat Wiesław, Tomasz Kapitaniaken Limba Engleză Paperback – 16 iul 2018
This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion aresolved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic tire is investigated using the Pacejka Magic Formula model including experimental determination of the stiffness coefficient. The aim of control is to maintain the unicycle–unicyclist system in an unstable equilibrium around a given angular position. The control system, based on LQ Regulator, is applied in Wolfram Mathematica.
Lastly, experimental validation, 3D motion capture using software OptiTrack – Motive:Body and high-speed cameras are employed to test the model’s legitimacy. The description of the unicycle–unicyclist system dynamical model, simulation results, and experimental validation are all presented in detail.
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Specificații
ISBN-13: 9783319953830
ISBN-10: 3319953834
Pagini: 70
Ilustrații: XI, 77 p. 39 illus., 34 illus. in color.
Dimensiuni: 155 x 235 mm
Greutate: 0.14 kg
Ediția:1st ed. 2019
Editura: Springer International Publishing
Colecția Springer
Seria SpringerBriefs in Applied Sciences and Technology
Locul publicării:Cham, Switzerland
ISBN-10: 3319953834
Pagini: 70
Ilustrații: XI, 77 p. 39 illus., 34 illus. in color.
Dimensiuni: 155 x 235 mm
Greutate: 0.14 kg
Ediția:1st ed. 2019
Editura: Springer International Publishing
Colecția Springer
Seria SpringerBriefs in Applied Sciences and Technology
Locul publicării:Cham, Switzerland
Caracteristici
Presents a three-dimensional model of the complete unicycle–unicyclist system Provides an effective control strategy Includes full experimental verification