Studies On Inverted Pendulum And Bicycle Balance System Based On Gyroscopic Effect

Bike-sharing as a new way of transportations has promoted the efficient microcirculation of urban traffic operation and achieved remarkable results in alleviating urban vehicle congestion.However,due to the limitation of technology,the difficulty of management has increased to some extent.In order to further improve the performance of bike-sharing and improve existing defects,the study designs a bicycle balance control system by using the precession effect of gyroscope device.The system is based on the gyroscope inverted pendulum,makes the bicycle stand stably in the state of unmanned and and has a strong anti-interference ability.If we combined image recognition,location and wireless control technology with it,unmanned driving and intelligent access can be realized.(1)According to the structure characteristic of bicycle,the balance principle and kinematics analysis of gyroscope,two kinds of bicycle balance systems are designed by means of inertia moment and precession effect of gyroscope.The corresponding mathematical models are established by using Lagrange equation and Euler equation.The dynamic equations of the two kinds of balance systems are calculated respectively,and basic control equations and control variables of the respective balance control system are determined,the advantages and disadvantages of the two kings of balance systems of bicycle are analyzed and compared,which lay a good theoretical foundation for the development of the practical model of the bicycle balance system.(2)By using Auto CAD,SolidWorks software and 3D printing technology,two kinds of models and control systems of balanced bicycle are developed.The overall structure,balance controller,power system,transmission system,software system and hardware system of the control system are designed respectively.Finally,the balanced bicycle model is built.Dealing in debugging and actual operation,the standing and walking of the bicycle model are realized,and the predetermined design goal is basically achieved,which laid a technical foundation for the application of the self balanced unmanned technology of the bicycle.(3)According to the basic control equation of the control system and the actual structure,the balance control systems of the two kinds of bicycles are determined in the model of the developed bicycle.According to the kinematic equation of the balanced bicycle system,the simulation model is built and the simulation analysis of the Kalman filter is completed in the MATLAB software.First of all,we design the core controller and the basic function module of the control system,and complete the hardware part of the control system.And then,design and write the control program of the control system to complete bicycle balance control system use the Keil 5.0 programming software.Finally,test and adjust the bicycle balance system,so that the bicycle can achieve the desired balance state control.The balanced bicycle system developed in the paper has reached the design requirements.It can make the bicycle stand stably and vertically under the condition of driverless,and has certain anti-interference ability.It can realize the bicycle unmanned control when equipped with other remote control technology.This paper is of great significance for the optimization and upgrading of the shared bicycle industry,and provides a new research direction for the research of driving unmanned control.