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World Electric Vehicle Journal is published by MDPI from Volume 9 issue 1 (2018). Articles in this Issue were published by The World Electric Vehicle Association (WEVA) and its member the European Association for e-Mobility (AVERE), the Electric Drive Transportation Association (EDTA), and the Electric Vehicle Association of Asia Pacific (EVAAP). They are hosted by MDPI on mdpi.com as a courtesy and upon agreement with AVERE.
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Researches and Development of an Efficient Electric PersonalMover for City Commuters

School of Mechanical Engineering, Beijing Institute of Technology South Zhongguancun Road, Beijing, 100081, People’s Republic of China
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World Electr. Veh. J. 2010, 4(2), 238-242; https://doi.org/10.3390/wevj4020238
Published: 25 June 2010
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Abstract

In order to reduce the carbon emission, saving fuel energy and for the convenience of personal transportation in urban area, a two-wheel-driven self-balancing vehicle was developed, which utilize the well-known inverted pendulum control technique, can carry one person and travels at a maximum speed of 20km/h. The vehicle which is called “Tiny” , consists up of two brushless DC motors, the motors are placed coaxially. A gravity sensor and a gyro are mounted on the vehicle, signals from the two sensors are combined with Kalman Filter to indicate the tilt angle of the vehicle. By controlling the tilt angle to be 0 degree (which means the vehicle body is perpendicular to ground), the vehicle can perform travelling forward and backward. In this paper, the implementation of the Kalman filter is discussed by using Matlab simulations, and the mathematical model of the vehicle is also presented, then the controlling diagram is presented. In the end of this paper, some experimental parameter is presented.
Keywords: Self-balancing vehicle; EV Development; Kalman filter Self-balancing vehicle; EV Development; Kalman filter
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Cao, S.; Huang, Y.; Zhang, Y.; Zhao, D.; Liu, K. Researches and Development of an Efficient Electric PersonalMover for City Commuters. World Electr. Veh. J. 2010, 4, 238-242.

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