Design And Simulation Of A Bicycle Robot Control System

Through the study and exploration of the robot field can be achieved in place of human needs in specific occasions,bicycle robots can be widely used in disaster relief,terrain or resource detection,reducing the potential of this situation on the human,so the research of bicycle robot is of great significance.The bike robot itself has complex dynamic characteristics,its system is a nonlinear system which is unstable in natural conditions,and its stability may be affected by a variety of factors,different terrain,the riding speed and wind speed are likely to cause the bicycle’s system unstable.And the mechanical structure of the bicycle itself is an element that determines whether it can be stable.These control factors have strong coupling characteristics,a number of factors can control the system’s stability,and the existing control methods are also varied.Therefore,this paper mainly focuses on the establishment of accurate system model,selecting the appropriate control and the kinematics analysis and puting forward on study a new control method.First,in this paper,the mechanical mechanism of the bicycle robot is analyzed and designed.The platform of the bicycle robot based on the STM32 control chip and the MPU6050 sensor chip which is assembled by the three-axis gyroscope and the three-axis accelerometer is set up and the experiment and simulation of the control algorithm are carried out.In the second part,the system model of the bicycle robot is established.The system is divided into four parts for kinematics analysis.The Lagrangian equation is used to establish the SISO nonlinear system dynamics equations that rely on the bicycle’s handlebar corner to adjust the balance of the bicycle.And established a system model based on the HD-algorithm,integrating the bicycle parts tightly,analysising the relationships between the coordinate systems to achieve the control of the degree of freedom of the system.Last,the system model is linearized,the controllability and observability of the system are analyzed,and an optimal quadratic controller is designed based on the classical control theory.The disturbance observer is designed for the bicycle robot system,and the disturbance observer is combined with the LQR controller to realize the self-balancing control of the system and suppress the external noise and disturbance.The design method of the auto-disturbance-rejection controller and thedesign principle of several modules which make up the auto-disturbance-rejection controller are discussed.Based on the theory of auto-disturbance-rejection control,a controller for a bicycle robot system is designed.Matlab was used to program.Finally,the three controllers have good control effect.