摘要
Fromtheviewpointsofenvironmentalprotection,supportfortheagedandensuringtherighttomobility,thereisaneedtodevelopanewtypeofmobilityvehiclethatprovidesmoreeffectivetransportation.Theauthorsproposeaninvertedpendulumvehiclewithpedalsasoneoftheformsofpersonalmobilityvehicles(PMVs).Inthispaper,thesteeringperformanceoftheinvertedpendulumvehiclewithpedalsisdiscussedbasedonexperimentsonaprototype.Fromtheexperimentalresults,itwasconfirmedthattheerrorsfromthefivesubjectsforthetargettrajectoryandthefive-gradeevaluationofthemaneuverabilityweresimilar.Finally,wecreatedaninvertedpendulumvehiclewithpedalstowhichwasaddedareactionactuatorforthesteeringsystem.Fromtheexperimentalresults,itwasfoundthatsettingappropriatefeedbackgainsforthehandlesteeringangleanditsrateofrotation,whichcontroltherightandleftwheeldrivingtorques,resultedingreatlyimprovedmaneuverability.
出版日期
2013年01月11日（中国期刊网平台首次上网日期，不代表论文的发表时间）
