Kondás, Péter and Kapitány, Pálma (2023) Balancing Control of a Motorcycle. POLLACK PERIODICA : AN INTERNATIONAL JOURNAL FOR ENGINEERING AND INFORMATION SCIENCES, 18 (1). pp. 167-171. ISSN 1788-1994 (print); 1788-3911 (online)
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Abstract
This article deals with balancing an autonomous motorcycle model along a straight line and curve lines. The dynamic model of the motorcycle balancing is described with an inverted physical pendulum loaded with torque. The torque is provided by the inertia of a rotor driven by a direct current motor. The lean angle of the motorcycle is measured by a smart sensor, which is the feedback signal for the linear quadratic regulator control system. The main purpose of this study is to compensate the error of the smart sensor. Controlling the necessary lean angle of the motorcycle during cornering is also addressed.
| Item Type: | Article |
|---|---|
| Additional Information: | MTA KFB támogatási szerződés alapján archiválva |
| Uncontrolled Keywords: | autonomous motorcycle, self-balancing, optimal control, sensor drifting, simulation |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 04 Aug 2023 12:53 |
| Last Modified: | 04 Aug 2023 12:53 |
| URI: | http://real.mtak.hu/id/eprint/170975 |
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