Reaction Force Control of a Parallel Biwheel Vehicle Driven with a Stepping Motor
Nobuaki Hiraoka* and Toshiro Noritsugu**
*Takamatsu National College of Technology, 355 Chokushi-cho, Takamatsu 761-8058, Japan
**Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan
Reaction force control of a parallel biwheel vehicle (PBV) driven with two stepping motors in open loop mode is used for holding and transporting objects. The inverted pendulum type unstable PBV’s attitude is regulated by a discrete time sliding mode controller. Reaction force is generated by contacting and leaning the PBV body toward objects and reaction force magnitude is controlled by a fuzzy logic controller whose nonlinear control achieves a quick, calm response. For a square wave force reference up to 1 N, the PBV quickly follows a reference signal without overshoot and maintains a steady reaction force. Control performance is discussed in detail aid compared to PI force control. The two PBVs cooperatively transport an object.
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.