| The front-wheel drive bicycle robot is a kind of novel bicycle robot which gets advancing force by the rolling of front-wheel at the ground. As a new member of bicycle robot, the front-wheel drive bicycle robot succeed the capability of omni-direction stable-balanced movement possessed by the traditional rear-wheel drive bicycle robot on the one hand, and on the other hand, this kind of robots are more manoeuvrable than rear-wheel drive ones, for example, it can perform zero radiuses turning, track-stand, rotation stand and so on, therefore, this kind of robots have far-ranging application perspective. The dyna-mics and balanced controller design of the front-wheel drive bicycle robot are different to the rear-wheel drive bicycle robot. By now, there is little research considering the front-wheel drive bicycle robot, and moreover, the literature which can provide physical experi-ment is almost not seen.In order to fill up the deficiency of front-wheel drive bicycle in bicycle robot research field, a newtype of front-wheel drive bicycle robot with no regulator weight was under consideration in this dissertation. The research work about this robot concentrates on the dynamics, the prototype hardware construction, the track-stand motion under90°and45°front-bar turning angle, the rotational motion under90°front-bar turning angle, the circular motion of small radius under45°front-bar turning angle and the stable-balanced rectilinear motion as well. The prototype experiments on vary balance motions are intentionally highlighted in this dissertation. The detail work of the dissertation is as follow:At first, nonholonomic constraints of a front-wheel drive bicycle robot were analyzed by considering wheel’s pure rolling precondition and the recursion dynamic model in the state of slop climbing was derived based on Kane method. Slop climbing capability was discussed and furthermore, in order to evaluate the capability, a performance index was proposed. Numerical simulations in the state of slop climbing and horizontal plane runing were performed to analyze the dynamic characteristics of the bicycle robot.Secondly, a physical prototype of the front-wheel drive bicycle robot was constructed with two driving DC motor to provide driving force and gear reducers to transfer motion, and the embedded controlling system hardware of the prototype was emphasised. The con-trolling system utilizes digital signal processor (DSP) TMS320F28335as the core contro-ller, TMS320F2812as the datum acquired module, micro controller chip (MCU) C8051F020as motors controller, and adopts inertial measurement unit (IMU), encoders, Hall current sensors and supper sonic sensors to be sensors modular, and uses CAN, SPI and RS232bus to exchange datum between processors. A simple control experiment with the proposed prototype validates the reliability of the bicycle prototype.Thirdly, under the90°front-bar turning angle, a simplified dynamical model for the front-wheel drive bicycle robot was built by used of Lagrange Equation. According to partial feedback linearization method, stable-balanced controller for90°front-bar turning angle track stand motion of the bicycle robot was designed by linearized the underactuated rolling angle, and control simulation and prototype experiment for this kind of motion were both carried out. Also by the same method, controller for rotational motion under the90°front-bar turning angle was designed, and simulation and prototype experiment were investtigated as well. Moreove, in prototype experiment, different rolling angle expecta-tions of the frame were set to analyze the relationship between the set rolling angle and the rotational frequence, which reveals the linearity between the two quantities.Fourthly, based on Lagrange Equation, a more general dynamic model of arbitrary front-bar turning angle was built by analyzing the instant rotational axis and the turning radius of the bicycle robot. According to the principle of partial feedback linearization, stable-balanced controller for45°front-bar turning angle track stand motion of the bicycle robot were designed in which the underactuated rolling angle of frame was linearized while the whole dynamics were taken as output, and control simulation and prototype experiment for this kind of motion were both carried out. Also with the same principle, controller for small radius circular motion under45°front-bar turning angle was designed, and simula-tion and prototype experiment were performed. When performing circular motion experi-ment, different rolling angle expectations were set to analyze the relationship between rolling angle and the circlar motion period.Finally, according to the proposed dynamic model of arbitrary front-bar turning angle for the bicycle robot, balance controller for rectilinear motion was constructed with partial feedback linearization by linearizing front-wheel and front-bar input angles and taking the underactuated frame rolling angle as the internal dynamics, and furthermore, rectilinear motion control simulation was performed and physical experiment was carried out as well.The work in this dissertation enriches the contents in bicycle robot field, and the achievement of the work can also be used for reference by rear-wheel drive bicycle robot. |
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