Estudio de la Dinámica y Control de una Bicicleta Robótica

Q4 Social Sciences

Revista Mexicana De Fisica E Pub Date : 2020-01-28 DOI:10.31349/revmexfise.17.62

D. A. Bravo, C. Rengifo

引用次数: 1

Abstract

En este trabajo se realiza un estudio de modelo cinematico y dinamico de una bicicleta robotica ( Arduino Engineering Kit ) con el proposito de desarrollar algoritmos de control para la estabilizacion automatica de la bicicleta. Se muestra el modelo matematico de la bicicleta mediante la formulacion Euler - Lagrange . Este modelo permite el diseno y la implementacion de dos estrategias de control para garantizar el equilibrio automatico. El estudio de este sistema dinamico se presenta como una excelente oportunidad para integrar las destrezas adquiridas por los estudiantes en materias como fisica, programacion y matematicas con el proposito de disenar, modelar y controlar sistemas dinamicos.

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机器人自行车的动力学与控制研究

本文对机器人自行车(Arduino Engineering Kit)的运动学和动态模型进行了研究，以开发自行车自动稳定的控制算法。用欧拉-拉格朗日公式给出了自行车的数学模型。该模型允许设计和实现两种控制策略，以确保自动平衡。这个动态系统的研究是一个很好的机会，可以整合学生在物理、编程和数学等学科中获得的技能，以设计、建模和控制动态系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Revista Mexicana De Fisica E 社会科学-科学史与科学哲学

CiteScore

0.80

自引率

0.00%

发文量

审稿时长

>12 weeks

期刊介绍： The Revista Mexicana de Física (Rev. Mex. Fis.) publishes original papers of interest to our readers from the physical science com unity. Language may be English or Spanish, however, given the nature of our readers, English is recommended. Articles are classified as follows: Research. Articles reporting original results in physical science. Instrumentation. Articles reporting original contributions on design and construction of scientific instruments. They should present new instruments and techniques oriented to physical science problems solutions. They must also report measurements performed with the described instrument. Reviews. Critical surveys of specific physical science topics in which recent published information is analyzed and discussed. They should be accessible to physics graduate students and non specialists, and provide valuable bibliography to the specialist. Comments. Short papers (four pages maximum) that assess critically papers by others authors previously published in the Revista Mexicana de Física. A comment should state clearly to which paper it refers.