Abstract
In this thesis, modeling, simulation and control of a novel personal mobility electric vehicle are presented. The vehicle is structurally similar to a pedaless unicycle but uses a hub motor as the driving wheel and contains a steering motor which automatically actuates a steering mechanism for steering and maintaining lateral stability. Under a promise that a pitch control system has already been established, in order to design the lateral control system for the steering motor, Lagrange formulation is firstly used to derive the dynamic equation. The dynamic equation is then linearized around an equilibrium point to acquire a linear model for revealing the crucial dynamic characteristics and facilitating the control design. A LQR and a pole placement controller are designed using the linear model. Simulations show that the controller can successfully steer the vehicle and achieve lateral stability under different vehicle speeds. Final, in the experiment, integrating signal processing, motor drive control and mechanical design, accomplish an electrically auto-balanced unicycle.