東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Modelling and Nonlinear Control of I...

Kulin, Thomas,

FindBook

Google Book

Amazon

博客來

Modelling and Nonlinear Control of Instability in Electric Skateboards /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Modelling and Nonlinear Control of Instability in Electric Skateboards // Thomas Kulin.
作者:	Kulin, Thomas,
面頁冊數:	1 electronic resource (230 pages)
附註:	Source: Masters Abstracts International, Volume: 86-12.
Contained By:	Masters Abstracts International86-12.
標題:	Ankle. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31923425
ISBN:	9798311909938

Modelling and Nonlinear Control of Instability in Electric Skateboards /
Kulin, Thomas,

Modelling and Nonlinear Control of Instability in Electric Skateboards /Thomas Kulin. - 1 electronic resource (230 pages)

Source: Masters Abstracts International, Volume: 86-12.

Electric skateboards have gained significant popularity in urban transportation, especially amongst younger demographics such as on university campuses. The electric drive system has greatly increased the speed achievable on the skateboard platform, driving the need for investigation into the dynamic instabilities associated with this unique mode of transportation. At high speeds, the skateboard system encounters a bifurcation, at which point the rider becomes unstable as a result of the interactions between the centrifugal effects on the rider and the tilt-steering mechanism. This instability commonly results in the rider being thrown from the board onto the pavement at very high speeds.In this thesis, a novel three-dimensional, four-degree-of-freedom skateboard-rider model is proposed to address the limitations of existing skateboard dynamic models. The proposed model combines the balancing efforts of a physiologically accurate rider with a spherical inverted pendulum model under the effects of fictitious forces resulting from the acceleration of the non-inertial reference frame due to the steering action of the skateboard. The proposed model is simulated and analyzed at varying velocities, truck stiffnesses, and board lengths to better understand the effects of various skateboard design parameters on stability. The model's skateboard-referenced frame facilitates its application to control system design.Using the dynamics derived from the proposed skateboard-rider model, several nonlinear control laws are proposed. The goal of these control strategies is to neutralize the highspeed instability using common-mode and differential motor torque as control inputs. The effectiveness of these control laws is compared using time-domain simulations and region of attraction analysis. The final optimal control law is implemented and tested on an electric skateboard apparatus at a range of velocities in order to verify control performance and model accuracy.When tested at low speeds, the control law is able to successfully stabilize the rider across a wide range of initial conditions, with experimental performance loosely aligning with the expected, simulated performance. High-speed testing was not conducted due to the safety concerns of the rider.

English

ISBN: 9798311909938Subjects--Topical Terms:

3563106
Ankle.
Subjects--Index Terms:

Electric skateboards

Modelling and Nonlinear Control of Instability in Electric Skateboards /
LDR:03580nmm a22004093i 4500 001 2435004
005 20250930135700.5
006 m o d
007 cr|nu||||||||
008 261011s2025 miu||||||m |||||||eng d
020 $a 9798311909938
035 $a (MiAaPQD)AAI31923425
035 $a AAI31923425
040 $a MiAaPQD $b eng $c MiAaPQD $e rda
100 1 $a Kulin, Thomas, $e author. $3 3825177
245 1 0 $a Modelling and Nonlinear Control of Instability in Electric Skateboards / $c Thomas Kulin.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2025
300 $a 1 electronic resource (230 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Masters Abstracts International, Volume: 86-12.
500 $a Advisors: Pahlevani, Majid.
502 $b M.A.Sc. $c Queen's University (Canada) $d 2025.
520 $a Electric skateboards have gained significant popularity in urban transportation, especially amongst younger demographics such as on university campuses. The electric drive system has greatly increased the speed achievable on the skateboard platform, driving the need for investigation into the dynamic instabilities associated with this unique mode of transportation. At high speeds, the skateboard system encounters a bifurcation, at which point the rider becomes unstable as a result of the interactions between the centrifugal effects on the rider and the tilt-steering mechanism. This instability commonly results in the rider being thrown from the board onto the pavement at very high speeds.In this thesis, a novel three-dimensional, four-degree-of-freedom skateboard-rider model is proposed to address the limitations of existing skateboard dynamic models. The proposed model combines the balancing efforts of a physiologically accurate rider with a spherical inverted pendulum model under the effects of fictitious forces resulting from the acceleration of the non-inertial reference frame due to the steering action of the skateboard. The proposed model is simulated and analyzed at varying velocities, truck stiffnesses, and board lengths to better understand the effects of various skateboard design parameters on stability. The model's skateboard-referenced frame facilitates its application to control system design.Using the dynamics derived from the proposed skateboard-rider model, several nonlinear control laws are proposed. The goal of these control strategies is to neutralize the highspeed instability using common-mode and differential motor torque as control inputs. The effectiveness of these control laws is compared using time-domain simulations and region of attraction analysis. The final optimal control law is implemented and tested on an electric skateboard apparatus at a range of velocities in order to verify control performance and model accuracy.When tested at low speeds, the control law is able to successfully stabilize the rider across a wide range of initial conditions, with experimental performance loosely aligning with the expected, simulated performance. High-speed testing was not conducted due to the safety concerns of the rider.
546 $a English
590 $a School code: 0283
650 4 $a Ankle. $3 3563106
650 4 $a Data processing. $3 680224
650 4 $a Eigenvalues. $3 631789
650 4 $a Skateboarding. $3 2051255
650 4 $a Urban planning. $3 2122922
650 4 $a Electrical engineering. $3 649834
650 4 $a Transportation. $3 555912
653 $a Electric skateboards
653 $a Electric drive system
653 $a Highspeed instability
690 $a 0544
690 $a 0999
690 $a 0709
710 2 $a Queen's University (Canada). $e degree granting institution. $3 3765623
720 1 $a Pahlevani, Majid $e degree supervisor.
773 0 $t Masters Abstracts International $g 86-12.
790 $a 0283
791 $a M.A.Sc.
792 $a 2025
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31923425