Method for determination of interaction between a two-wheeled self-balancing vehicle and its rider

Abstract

The paper presents a method for determination of interaction between a two-wheeled self-balancing vehicle and its rider while driving. The presented approach is a new direction of research, because this kind of interaction is usually overlooked in simulation and analytical studies whose aim is to determine and verify the vehicle control method. The proposed method is based on the comparison of experimental results with the computer simulation results. The mathematical model of the vehicle–rider system used in the simulation includes a postulated qualitative mathematical form of interaction with unknown coefficients (in practice, they estimate parameters of the rider). These  unknown coefficients have been  obtained by designation of the matching function between the experimental data and simulation data. Based on these coefficients, the generalized form of interaction between a two-wheeled self-balancing vehicle and its rider has been found.

DOI: http://dx.doi.org/10.5755/j01.mech.22.5.13315