The Research Of Control Mechanism And Balance Problem For The Bicycle

In order to analyze, design, predict and control a system, it is necessary to establish a system model. With the development of industry and technology, the research of system modeling is experiencing a process from linearity to nonlinearity, from simplicity to complexity. As to complex nonlinear system, it is difficult to establish an accurate math model. Rough Set Theory (RST) can be applied to process inaccurate, uncertain, incomplete data, and the algorithm can be used to extract rules from data. There is a relationship of one to one correspondence between rough set decision-making information tables'attributes and the system variables of input and output, so the decision-making information tables can be used to describe a dynamic system, and rules of reflecting specific performances of the system can be extracted by using rough sets algorithm. On the basis, the dynamic model of rough sets can be established for a system.A bicycle is a complex nonlinear system, and it is meaningful to its unmanned control to study its balance. In the paper, the mechanism of balance is studied by establishing a rough sets'model for the bicycle. In addition, the research of bicycle'modeling is helpful to study modeling of the complex nonlinear system.In the paper, the state variables which have influence on bicycles'balance are specified by analyzing qualitative model of dynamics. The correspondence relationship and feasibility are analyzed and the correspondence relationship is relationship among the variables, rough sets decision-making tables'condition attributes and decision-making attributes. Rough sets'model structure and the method of extracting models'rules sets are discussed. In order to obtain the decision-making information tables of reflecting bicycles'state variables, software and hardware of the system are designed. The system can reflect state variables, and the system include some function models such as velocity detection, handle position detection, bicycles'body gradient detection, units of series port communication, unit of interface between humans and machines and so on. The system realizes some functions such as collecting data, extracting rules, modeling, verification and so on. By experiment, it is turned out that the method of rough sets'modeling is feasible. The model can predict balance state of bicycles, and it is helpful to bicycles'intelligent control.