Design Of Unmanned Self-balancing Bicycle System

As a non-coaxial wheel system,the unmanned bicycle system has good application prospects in transportation,security,rescue,etc.Non-coaxial wheel-balanced vehicles are typical nonlinear,multivariable systems with static instability.At the same time,it has the advantages of simple structure,convenient operation and flexible movement,and can complete the task requirements of different scenarios.It is one of the hot research directions of wheeled mobile robots.At present,a lot of research work on bicycle robots has been carried out at home and abroad,ranging from dynamic theory studies to experimental studies of balancing methods.Based on the summary and analysis of the current bicycle system research,this article studies the auxiliary balanced bicycle from the aspects of mathematical modeling,control algorithm design,system design,and data processing.First,the basic four elements of the bicycle are used as the main body.For the bicycle system with auxiliary balancing device,the principle of lateral balance of the vehicle body is analyzed,and the relationship between the roll angle and the acceleration of the flywheel system is obtained。The Lagrange equation was used to study the dynamic model of the bicycle system,and the approximate linearization method was used to obtain a simplified model near the equilibrium point.According to the characteristics of the auxiliary balanced bicycle,the basic structure of the bicycle system is designed,and the form of the flywheel is studied.Through functional analysis,the hardware circuit design and hardware selection of the bicycle system are completed.Aiming at the sensor data acquisition method,the data fusion processing method is studied,and the overall control program,data processing,motor control and other programs are compiled.And built the host computer system framework,completed the host computer serial communication function.Based on the inclination relationship of the auxiliary balanced bicycle system,a PID controller and a fuzzy PID parameter controller are designed.A simplified model was built using MATLAB/Simulink software,and the control effects of the two controllers under different step responses were studied.By adding interference signals,the feasibility of comparing two control algorithms is studied.For the principle of low center of gravity,light weight and small size,an auxiliary balanced unmanned bicycle system was built.The unmanned bicycle system was tested for stability,anti-jamming and straight-line "riding" to achieve a certain control effect.By collecting data and analyzing the average and mean square deviation of the data segment,the fluctuation range of the equilibrium position and inclination of the bicycle system was studied.The accuracy of the simulation results is verified,and the dynamic stability of the bicycle system is also verified.