Research On Self-balancing And Trajectory Tracking Simulation Control Of Two-wheeled Motorcycles

Two-wheeled motorcycles have strong maneuverability and are one of the common vehicles for military and civilian use.Two-wheeled motorcycles,like bicycles,belong to two-wheeled single-rut vehicles.The lateral dynamic characteristics of the car body are more complicated than those of automobiles.The two-wheeled motorcycle that can achieve self-balancing is the main research and development direction at present.Aiming at the problems that the static self-balancing of two-wheeled motorcycles and the control against external disturbances are difficult to overcome,as well as the increased control difficulty due to the sensitivity of the vehicle to speed in the steering movement,this topic establishes the control torque gyro and the two-wheeled motorcycle dynamics model,and designs them respectively.The self-balancing control algorithm and the motion trajectory tracking controller of the vehicle at rest and in motion are completed.The establishment of the MATLAB/Simulink simulation model and the simulation experiment verification of the vehicle self-balancing algorithm are completed,and the research on the self-balancing and trajectory tracking control is further carried out.The specific work content is as follows:(1)The application of control moment gyroscope in the self-balancing of two-wheeled motorcycles is analyzed.Aiming at the control torque gyroscope acting on two-wheeled motorcycles,the process of generating the torque of the control torque gyroscope and the singular phenomenon existing in the control torque gyroscope that are not conducive to the vehicle balance control are theoretically analyzed,and the bench test is used to verify the control torque gyroscope.The correctness of the torque generation principle is analyzed,and the performance of the control torque gyroscope is analyzed to meet the needs of vehicle self-balancing control.(2)Build a two-wheeled motorcycle roll dynamics model.The force of the traditional two-wheeled motorcycle is analyzed by the Newton-Euler method,and the mathematical differential equation of the rolling dynamics model of the two-wheeled motorcycle including the control moment gyro is established.The relationship between wheel speeds and the impact on the vehicle’s self-balance,it is found that the vehicle can achieve self-balance through steering at a certain wheel speed,which lays the foundation for the subsequent self-balancing algorithm design.(3)A self-balancing algorithm for two-wheeled motorcycles based on control moment gyro is designed.Aiming at the problem that two-wheeled motorcycles can hardly achieve self-balancing at rest and low speed,a self-balancing control algorithm based on control torque gyro is designed,and the algorithm is optimized for the singularity and saturation phenomenon corresponding to the zero output torque of the control torque gyro.The simulation test of the vehicle’s static start-swing self-balancing and resistance to external disturbance is further designed to verify the effect of the control algorithm that makes the vehicle self-balance under different initial roll angles and can well resist external disturbances.(4)Design of two-wheeled motorcycle body attitude stabilization and trajectory tracking control algorithm based on steering.When considering the problem of the vehicle’s steering stability and poor robustness to vehicle speed,a steering-based body stabilization algorithm is designed,and its robustness to vehicle speed is verified in simulation to ensure the stability of the vehicle’s attitude during steering motion;Then,a two-wheeled motorcycle trajectory tracking control algorithm was further designed,and the simulation verified that the two-wheeled motorcycle can track straight and circular trajectories while maintaining its own attitude stability,so as to realize the autonomous driving of the two-wheeled motorcycle balance control.