Research On Dynamic Model Analysis And Self-stabilizing Control Of Bicycle System

Bicycles,as one of the most common means for transportation,have the advantages of being portable,flexible,environmentally friendly and irreplaceable,and more popular among people.Even today,when cars are already very popular,bicycles are still a preferable mode of transportation for people to travel in short distances.Unmanned bicycle is a combination of bicycle and intelligent control,which has the flexibility and convenience of the bicycle and the intelligence of the control system.Unmanned bicycles can replace people's transportation work and field exploration work in harsh environments,and have broad application prospects.At the same time,bicycle as a typical time-varying,unstable and nonlinear system,its mechanical properties and motion characteristics have always been the focus of scholars from all over the world.The exploration of bicycle characteristics and balance control schemes is of great significance for the study of underactuated nonlinear systems.In this paper,the dynamic control modeling,stability analysis,controller design,simulation and other methods are used to study the balance control problem of unmanned bicycles in forward driving.(1)Two kinds of bicycle balance weight adjusters were designed respectively: balance-board system and two-link-balance system.The weight regulator and the bicycle are used as a whole system.The dynamics of the system is modeled by Lagrange equation method.The passivity is analyzed briefly,and the system is simplified by using simulation software.The results verify the correctness of the weight adjustment scheme.(2)System performance analysis of bicycle single-input single-output model which adjusting the stability of the car with the handlebar.The effect of vehicle speed on system stability is determined.The state feedback controller is designed by pole placement method and LQR control method when the bicycle speed is constant.The effectiveness of the two controllers is verified by simulation.(3)The variable gain LQR control method is used to control the nonlinear SISO model.When the speed of the bicycle is changing constantly,simulate the three controlled systems when the bicycle body without disturbance,short-term disturbance or continuous disturbance.The results show that the variable gain LQR controller can keep the system in a relatively stable state,and it has higher adaptability and reliability than the LQR controller.