| 书目名称 | Dynamics of the Unicycle | | 副标题 | Modelling and Experi | | 编辑 | Michał Niełaczny,Barnat Wiesław,Tomasz Kapitaniak | | 视频video | | | 概述 | Presents a three-dimensional model of the complete unicycle–unicyclist system.Provides an effective control strategy.Includes full experimental verification | | 丛书名称 | SpringerBriefs in Applied Sciences and Technology | | 图书封面 |  | | 描述 | .This book presents a three-dimensional model of the complete unicycle–unicyclist system. A unicycle with a unicyclist on it represents a very complex system. It combines Mechanics, Biomechanics and Control Theory into the system, and is impressive in both its simplicity and improbability. Even more amazing is the fact that most unicyclists don’t know that what they’re doing is, according to science, impossible – just like bumblebees theoretically shouldn’t be able to fly. .This book is devoted to the problem of modeling and controlling a 3D dynamical system consisting of a single-wheeled vehicle, namely a unicycle and the cyclist (unicyclist) riding it. The equations of motion are derived with the aid of the rarely used Boltzmann–Hamel Equations in Matrix Form, which are based on quasi-velocities. The Matrix Form allows Hamel coefficients to be automatically generated, and eliminates all the difficulties associated with determining these quantities. The equations of motion aresolved by means of Wolfram Mathematica. To more faithfully represent the unicyclist as part of the model, the model is extended according to the main principles of biomechanics. The impact of the pneumatic ti | | 出版日期 | Book 2019 | | 关键词 | Unicycle Stability; unicycle-unicyclist system; 3D dynamic model of the unicycle; Unstable system contr | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-319-95384-7 | | isbn_softcover | 978-3-319-95383-0 | | isbn_ebook | 978-3-319-95384-7Series ISSN 2191-530X Series E-ISSN 2191-5318 | | issn_series | 2191-530X | | copyright | The Author(s) 2019 |
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发表于 2025-3-21 17:05:26
