Várszegi, Balázs and Takács, Dénes and Stépán, Gábor and Hogan, S. John (2014) Balancing of the skateboard with reflex delay. In: 8th European Nonlinear Dynamics Conference, 2014.07.06-11., Vienna.
|
Text
498.pdf Download (828kB) | Preview |
Abstract
A simple mechanical model of the skateboard-skater system is constructed in which a PD controller with time delay is implemented. Equations of motion are derived with the help of Appell-Gibbs method and are linearized around straight uniform motion. The linear stability analysis is carried out analytically using the D-subdivision method. Stability charts are presented for realistic system parameters and the critical time delay is calculated. It is also shown how the control gains have to be varied with respect to the speed of the skateboard in order to stabilize uniform motion.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| Depositing User: | Denes Takacs |
| Date Deposited: | 24 Sep 2014 11:45 |
| Last Modified: | 24 Sep 2014 11:45 |
| URI: | http://real.mtak.hu/id/eprint/16334 |
Actions (login required)
 |
Edit Item |
