Owczarkowski Mathematical Modeling
Owczarkowski Mathematical Modeling
Owczarkowski Mathematical Modeling
M M B R R W
3
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 9, N 3 2015
z z
u3 bh mm 3
Th I h I m 3
x7 x1 Tr Tc Thr
u1 bI mm1 mI I rg br
TI I I I m1 rI y COB
x3 mm 2 I m 2
x5 u2 bw
R
C1 C2
x Fig. 2. The bicycle robot side view
P1 P2
a c hI distance from the ground to the center of mass
b of the inertia,
Fig. 1. The bicycle robot main view hmi distance from the ground to the center of mass
of the i-th motor,
hr distance from the ground to the center of mass
x7 rotation of the steering wheel, of the robot,
x8 angular velocity of the steering wheel, rI radius of the reaction wheel,
u control vector, rw radius of the wheel,
u1 current of the irst motor, rmr1 radius of the rotor of the motor 1,
u2 current of the second motor, P1 , P2 contact points of the wheels with the
ground,
u3 current of the third motor,
P3 intersection of the steer axis with the ground on
mf frame weight, the plane de ined by front wheel,
mcover cover weight, C1 center of the rear wheel,
mI reaction wheel weight, C2 center of the front wheel,
mmr1 weight of the rotor of the motor 1, g gravity of the Earth,
mms1 weight of the stator of the motor 1, a distance from a vertical line through the center
mm1 weight of the irst motor, of mass to P1 ,
Imr1 moment of inertia of the rotor of the motor 1, br coef icient of friction in the robot rotation,
bw coef icient of friction in the robot horizontal
Imi moment of inertia of the i-th motor,
movement,
Ih moment of inertia of the handlebar,
bh coef icient of friction in the rotation of the han-
IIg moment of inertia of the reaction wheel relative dlebar,
to the ground, bI coef icient of friction in the rotation of the reac-
If g moment of inertia of the frame relative to the tion wheel,
ground, Fd inclined plane force,
Icoverg moment of inertia of the cover relative to Fw resultant force,
the ground,
Fp pressure force on the ground,
Imgi moment of inertia of the i-th motor relative to
Fg gravitational force,
the ground,
Fbw dissipation force,
Ihg moment of inertia of the handlebar relative to
the ground, Fm2 motor 2 force,
Irg moment of inertia of the robot relative to the Tr robot torque,
ground, TI inertial drive torque,
4
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 9, N 3 2015
Tc torque acting on the robot from centrifugal The distance from the ground to the center of mass
force, COM is equal to
Tp torque acting on the robot from the gravity
1
force, hr = (mf hf + mcover hcover + mI hI
mr (11)
Tbr friction torque in the robot rotation,
mm1 hm1 + mm2 hm2 + mm3 hm3 ).
Thr torque acting on the robot from handlebar
movements, The basic equation with the gravity force acting the
Th handlebar torque,
y
COM Center Of Mass,
COB
COB Center Of Bend,
Detailed symbol description is necessary to reach
precise model of the robot.
The total weight of the structure is
R
mr = mf + mcover + mI + mm1 + mm2 + mm3 . (1)
COM x7 u3
It contains every signi icant part that should be taken x
into account. One of the most important elements is
electric motor 1. It accelerates the reaction wheel. The
motor 1 is divided into two components weight of Fig. 3. The bicycle robot top view
the rotor and weight of the stator
robot is
mm1 = mmr1 + mms1 . (2)
Fg = mr ghr . (12)
The same applies to the moment of inertia of the motor
The torque acting on the robot from the gravity is
Im1 = Imr1 + Ims1 . (3) given by
Tp = sin x1 Fp . (13)
The motor 1 has the moment of inertia that can be cal-
culated from the equation The friction torque acting the robot rotation can be
2
calculated by
mmr1 rmr1
Imr1 = . (4) Tbr = br x2 . (14)
2
It is important to know the moment of inertia of rotat-
ing mass in the inertial drive system which includes 3. Reac on Wheel Torque
two important parts: the reaction wheel and the rotor The inertial drive torque is created by accelerating
of the motor 1. The moment of inertia of the reaction reaction wheel and is equal to
wheel is equal to
TI = (II + Imr1 )x 4 . (15)
mI rI2
II = . (5)
2 It consists of two moments of intertia both belong
to rotating parts. The differential equation of electric
The irst degree of freedom is the rotation about an
motor 1 is
axis lying on the ground. Every moment of inertia
can be expressed about this axis using the Huygens- km1 u1 bI x4
Steiner theorem: x 4 = . (16)
(II + Imr1 ) (II + Imr1 )
IIg = II + mI h2I , (6)
4. Centrifugal Force
When the bicycle robot circles around some point
Img1 = Im1 + mm1 h2m1 , (7)
(COB) the centrifugal force appears. First of all the ra-
dius of the bend can be calculated by
Img2 = Im2 + mm2 h2m2 , (8)
R= (b tan (/2 x7 ) hr sin x1 )2 + a2 . (17)
Img3 = Im3 + mm3 h2m3 . (9)
Figure 2 and Figure 3 show two views of robot when
Having every distances h it is inevitable to make above it tilts.
calculations. This leads to the most important moment The centrifugal force creates torque acting on the
of inertia in dynamics of the robot, which is robot
mr x26 hr
Irg = If g + Icoverg + IIg + Img1 + Img2 + Img3 . (10) Tc = . (18)
R
5
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 9, N 3 2015
6
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 9, N 3 2015
x1 [rad]
x1 [rad]
0.5 0.5
0 0
0.5
0 5 10 15 20 25 0.5
x2 [rad/s]
1 0 2 4 6 8 10
x2 [rad/s]
0 1
1 0
0 5 10 15 20 25
x7 [rad] x4 [rad/s] x3 [rad]
100 1
0 0 2 4 6 8 10
x4 [rad/s] x3 [rad]
100
100
0 5 10 15 20 25 0
100
0 100
0 2 4 6 8 10
100 100
0 5 10 15 20 25
0.1 0
0.05
100
0 0 2 4 6 8 10
0 5 10 15 20 25 5
u1 [A]
5
i1 [A]
0 0
5 5
0 5 10 15 20 25 0 2 4 6 8 10
Fig. 5. The result of the centrifugal force handlebar Fig. 7. Comparison of the behavior of the robot on the
angle changes from 0 to 0.1rad at ground (solid line, = 0rad) and inclined ground
(dashed line, = 0.79rad)
0.5
0 tant in the bicycle construction.
0.5
0 5 10 15 20 25 The simulation results show functioning of the
x2 [rad/s]
1
0 mathematical model. The most important characteris-
1
0 5 10 15 20 25
tics are shown. The simulations could be very helpful
x4 [rad/s] x3 [rad]
100
0
to construct the real machine.
100
0 5 10 15 20 25
The model does not contain information about the
100 gyroscopic effect due to rotating reaction wheel. In
0
100 nominal terms it can be negligible, because the angu-
0 5 10 15 20 25
lar velocity of the wheel should tends to zero value.
x7 [rad]
0.2
0.1
0
However, wanting a more detailed description of the
0 5 10 15 20 25
5 physical behaviour this effect should be taken into
i1 [A]
0.5
0
bigger centrifugal force and the new equilibrium point
0.5
is further from x1 = 0. Also the bigger control signal 0 2 4 6 8 10
x2 [rad/s]
1
is needed this time to maintain the stability. 0
The next simulation shows the behavior of the 1
0 2 4 6 8 10
robot on the inclined ground. The results are in Figure
x4 [rad/s] x3 [rad]
100
7. 0
7
Journal of Automation, Mobile Robotics & Intelligent Systems VOLUME 9, N 3 2015