This paper presents an innovative unicycle which is powered by a fourquadrant dc-servo drive consisting of a permanent exited dc-motor and a 4q-chopper converter. The control of gravitation, speed and torque is done by an observer-based cascade structure which stabilizes the unicycle automatically and places the driver's position in such a way that the centre of gravity is always above the axle of the wheel. As electric drive systems are able to correct the tilt angle nearly one hundred times a second these electric one-wheelers can stand absolutely alone just like ghostly balanced.


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    Title :

    Stabilization of an IP-vehicle


    Contributors:
    Hofer, K. (author)


    Publication date :

    2006


    Size :

    6 Seiten, 2 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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