| Variable structure driverless bicycle is a typical nonholonomic,nonlinear,multi rigid body and underactuated system.It can not only achieve static balance and motion balance,but also switch between bicycle mode and balance vehicle mode.On the one hand,the design can cause the change of wheeled vehicles and will play an inestimable role in the fields of logistics,fire protection,public transportation and so on;On the other hand,it can lay a foundation for the research of biped bionic robot.The specific research content includes:(1)Dynamic modeling and stability analysis.The hardware structure of the experimental platform is established by consulting relevant data.The dynamics of variable structure driverless bicycle is analyzed and the controllability and observability of the system are established based on Kane method and Lagrange modeling method.The system stability is analyzed by dynamic analysis.(2)The controller of driverless bicycle is built.LQR controller and LQR(LQG)controller based on Kalman filter are constructed.In the Simulink environment,the two controllers are applied to the variable structure driverless bicycle system for simulation modeling experiments.Although both controllers can realize system control,LQG controller has better control effect.In addition,PID controller and PID controller based on Kalman filter are also built.The two controllers are also simulated in Simulink environment.The simulation results show that the PID controller based on Kalman filter algorithm has better control effect.(3)Construction of hardware experiment platform and software operation platform.The experimental data are collected by industrial computer.The effectiveness of the algorithm is verified by comparing the operation effects of variable structure driverless bicycle under different controllers.The software platform provides a friendly man-machine interface for operating the variable structure driverless bicycle experimental platform,which makes the experimental operation easier.Finally,the experiments on the variable structure driverless bicycle experimental platform are summarized.The shortcomings of the experiment are pointed out and the follow-up experimental work is prospected. |
