Dicycle is a two-wheeled unicycle with two wheels axially aligned. The effect of interaction between a self-balanced dicycle and a rider has been investigated experimentally by measurements of state of motion. Dicycle can be seen as an inverted pendulum, which is an unstable system. The controller of the self-balanced dicycle and the rider control the balance of dicycle simultaneously. The controller controls the motor to afford torque, which keeps balance of the rider-dicycle system by moving dicycle forward and backward. At the same time, the state of stabilization changes when rider changes its posture or applies force on dicycle. The interaction between rider and controller can cause resonance of human-machine combined system. A method to investigate the resonance frequency under human operation is presented. The resonance frequency is estimated from a mathematical model combining rider and inverted pendulum. The dicycle is composed of seat, handlebars, and pedals installing on a Segway. The position of seat, handlebars, and pedals can be adjusted to suit different center of gravities of riders in order to keep controllability of Segway. Subjects rode under different conditions, which is riding forward and backward on level ground, crossing speed bump, and stopping abruptly after accelerating. The state of motion is measured through combined gyro sensor and accelerometer. A discussion of the design property of the selfbalancing controller is made according to the reaction of riders. In some cases, riders fell from the Segway because they stop rapidly or inclined on the Segway suddenly which overloaded the motor. Another reason for falling is that during the motion of swinging, the feet of the riders leave the mat so the controller of Segway turns off its power of balancing. Compare Segway to the dicycle in this study, the situation of losing control has rarely been observed from the results of experiments because of the following reasons. First, it is difficult for the subjects to actively make the dicycle lose control. Secondly, a sitting posture limits the moving range of position of COM and makes the rider-dicycle system more stable. Finally, the space for the subjects to accelerate the dicycle was 3 meters long, which might not be sufficient for the dicycle to achieve a high speed. A wireless data acquisition device is suggested for a long accelerative distance. Braking mechanism has to be designed in the future because controlling the position of COM in order to stop the dicycle was difficult and uncomfortable for the riders in a sitting posture comparing to the riders in a standing posture when driving a Segway. The design of braking mechanism must consider the interacting mode of rider and dicycle to avoid toppling the rider. The speed limit and properties of the rider-dicycle system corresponding to different design of controller can be derived from the mathematical model. And the pedal mechanism is more appropriate for the riders to control the dicycle.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Interaction between self-balanced dicycle and rider


    Contributors:
    Shaw, Dein (author) / Hsieh, Tzushin (author)

    Published in:

    Publication date :

    2012


    Size :

    12 Seiten, 14 Bilder, 1 Tabelle, 24 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Easy Rider

    Online Contents | 1994


    Interaction system between autonomous vehicle and color blindness walker or rider

    CROCHARD PAUL / CREMONS SEAN | European Patent Office | 2022

    Free access

    ECO RIDER

    GIL SEUNG HWAN | European Patent Office | 2023

    Free access