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Table 3 System simulation parameters

From: Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism

Parameter Description Value Unit
\(m_{1}\) Mass of the chassis 1 kg
\(m_{2}\) Mass of the linear actuators 0.6 kg
\(m_{\text{w}}\) Mass of wheel 0.14 kg
\(g\) Gravitational acceleration 9.81 m/s2
\(l\) Distance of chassis’s center of mass for wheel axle 0.14 m
\(R\) Wheel radius 0.05 m
\(J_{1}\) Rotation inertia of chassis 0.068 kg m2
\(J_{2}\) Rotation inertia of moving mass 0.0093 kg m2
\(J_{\text{w}}\) Rotation inertia of a wheel 0.000175 kg m2
\(\mu_{\text{c}}\) Coefficient of friction between chassis and wheel 0.1 N s/m
\(\mu_{\text{w}}\) Coefficient of friction between wheel and ground 0 N s/m
\(\mu_{1}\) Coefficient of friction of vertical linear actuator 0.3 N s/m
\(\mu_{2}\) Coefficient of friction of horizontal linear actuator 0.3 N s/m