0
research-article

Dynamics of damped skateboards under human control

[+] Author and Article Information
Balazs Varszegi

Department of Applied Mechanics Budapest University of Technology and Economics and MTA-BME Lendulet Human Balancing Research Group, Budapest, Hungary
varszegi@mm.bme.hu

Denes Takacs

MTA-BME Research Group on Dynamics of Machines and Vehicles Budapest, Hungary
takacs@mm.bme.hu

Gabor Stepan

Department of Applied Mechanics Budapest University of Technology and Economics Budapest, Hungary
stepan@mm.bme.hu

1Corresponding author.

ASME doi:10.1115/1.4036482 History: Received September 21, 2016; Revised March 20, 2017

Abstract

A simple mechanical model of the skateboard-skater system is analyzed, in which a linear proportional-derivative (PD) controller with delay is included to mimic the effect of human control. The equations of motion of the nonholonomic system are derived with the help of the Gibbs-Appell method. The linear stability analysis of the rectilinear motion is carried out analytically in closed form. It is shown how the control gains have to be varied with respect to the speed of the skateboard in order to stabilize the uniform motion. The critical reflex delay of the skater is determined as functions of the speed, the position of the skater on the board and the damping of the skateboard suspension system. Based on these, an explanation is given for the experimentally observed dynamic behavior of the skateboard-skater system at high speed.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In