Control and Fault Diagnosis of an Auto-balancing Two-wheeled Cart (Paperback) (ISBN-13: 9783639106312)

In this book, we present a pilot control algorithm, which converts two joysticks' commands into two torque directives for movement. This technique allows the user to operate the ABTWC linearly for both motion and orientation control via a joystick. Since a human being is involved in the operation of an ABTWC, the rider faces the danger of being injured in a fall if any system failure occurs. Therefore, the rider should be warned immediately when any system failure develops, ensuring that proper action can be taken to avoid a dangerous accident. A model-based fault-detection filter is designed to detect sensor faults. This book employs a PI observer to detect abnormal information in an ABTWC caused by actuator faults and steering load- torques. In order to promptly alert the rider for safety purposes in the event of a malfunction, the decision-making process to identify a critical failure is investigated. A statistical threshold that has the benefits of improving decision-making reliability is investigated for diagnosing a possible abnormal operation and/or a serious system malfunction.

Author: Jia-Sheng Hu,Mi-Ching Tsa
ISBN-10: 3639106318
ISBN-13: 9783639106312
Publisher: VDM Verlag
Language: English
Published: 12/01/2008
Pages: 144
Format: Paperback
Weight: 0.44lbs
Size: 9.00h x 6.00w x 0.31d