Development of the electric vehicle type personal transporter

El artículo presenta la construcción de un vehículo eléctrico tipo Segway de dos ruedas, a partir del diseño de cada una de sus partes y la aplicación de la ingeniería inversa, para su desarrollo en Ecuador. La selección de sensores, controladores y actuadores se realiza a partir de referencias utilizadas en otras investigaciones. La formulación de Lagrange-Euler se usa para el modelo dinámico del sistema; en la selección y dimensionamiento de los motores se tienen en cuenta las relaciones de potencia y torque-velocidad para superar la resistencia en un plano inclinado. Para la evaluación del prototipo se realizaron pruebas en situaciones de pendiente, actuando de manera estable con velocidades superior a 4 km/h e inferior a 20 km/h. La autonomía del vehículo es de aproximadamente de 4 horas para un recorrido de 40 kilómetros y la descarga de las baterías entre 25.2 y 20 voltios. El diseño del vehículo cumple con los requerimientos exigidos para este tipo de transporte personal.   The article presents the construction of a Segway two-wheeled electric vehicle, starting on the design of each of its parts and the application of reverse engineering, for its development in Ecuador. The selection of sensors, controller and actuators is made from references used in other investigations. The for-mulation of Lagrange-Euler is used for the dynamic model of the system; in the selection and dimensioning of the motors the power and torque-speed ratios are taken into account to overcome the resistance in an inclined plane. For the evaluation of the prototype tests were performed in slope situations, acting in a stable ma-nner with speeds higher than 4 km/h and lower than 20 km/h. The autonomy of the vehicle is approximately 4 hours for a route of 40 kilometers and the discharge of the batteries between 25.2 and 20 volts. The design of the vehicle meets the requirements for this type of personal transport. &nbsp

Desarrollo del vehículo eléctrico tipo transportador personal

El artículo presenta la construcción de un vehículo eléctrico tipo Segway de dos ruedas, a partir del diseño de cada una de sus partes y la aplicación de la ingeniería inversa, para su desarrollo en Ecuador. La selección de sensores, controladores y actuadores se realiza a partir de referencias utilizadas en otras investigaciones. La formulación de Lagrange-Euler se usa para el modelo dinámico del sistema; en la selección y dimensionamiento de los motores se tienen en cuenta las relaciones de potencia y torque-velocidad para superar la resistencia en un plano inclinado. Para la evaluación del prototipo se realizaron pruebas en situaciones de pendiente, actuando de manera estable con velocidades superior a 4 km/h e inferior a 20 km/h. La autonomía del vehículo es de aproximadamente de 4 horas para un recorrido de 40 kilómetros y la descarga de las baterías entre 25.2 y 20 voltios. El diseño del vehículo cumple con los requerimientos exigidos para este tipo de transporte personal

Large scale modeling, model reduction and control design for a real-time mechatronic system

Mechatronics is the synergistic integration of the techniques from mechanical engineering, electrical engineering and information technology, which influences each other mutually. As a multidisciplinary domain, mechatronics is more than mechanical or electronics, and the mechatronic systems are always composed of a number of subsystems with various controllers. From this point of view, a lot of such systems can be defined as large scale system. The key element of such systems is integration. Modeling of mechatronic system is a very important step in developing control design of such products, so as to simulate and analyze their dynamic responses for control design, making sure they would meet the desired requirements. The models of large scale systems are always resulted in complex form and high in dimension, making the computation for modeling, simulation and control design become very complicated, or even beyond the solutions provided by conventional engineering methods. Therefore, a simplified model obtained by using model order reduction technique, which can preserve the dominant physical parameters and reveal the performance limiting factor, is preferred. In this dissertation, the research have chosen the two-wheeled self-balancing scooter as the subject of the study in research on large scale mechatronic system, and efforts have been put on developing a completed mathematical modeling method based on a unified framework from varitional method for both mechanical subsystem and electrical subsystem in the scooter. In order to decrease the computation efforts in simulation and control design, Routh model reduction technique was chosen from various model reduction techniques so as to obtain a low dimensional model. Matlab simulation is used to predict the system response based on the simplified model and related control design. Furthermore, the final design parameters were applied in the physical system of two-wheeled self-balancing scooter to test the real performance so as to finish the design evaluation. Conclusion was made based on these results and further research directions can be predicte