Bicycle Robot Modeling And Simulation

The bicycle robot that is proposed by academics in the field of robot in recent years is a new conception of intelligent transport (or traffic) tool. Because of dynamics of bicycle robot is complicated, and it is an under-actuated non-integrated system. Therefore, it is difficult to control the bicycle robot stable. So far, the bicycle robot has obtained some research achievement. The researches mainly focus on dynamic modeling and propose a new control algorithm. This study uses the method of modeling, stability analyzing, controller designing and simulating, focusing on the issues of balance control of bicycle robot.First, this paper presents the inverted pendulum model, and establishes the equations of bicycle robot by using its constraints and equilibrium conditions, and analyzes its stability of movement, including the influence of speed on stability.Second, the bicycle robot for experiment has been designed on the platform of hardware including ARM9 embedded system, microcontroller, high-precision three-dimensional MTI sensor and so on, which has finished the sampling of systematical data. A series of experiments have been done based on the prototype, taking the bicycle robot SISO linear system as example, on which the corresponding control experiment is carried.Third, this paper designs PID controller, PID controller with disturbance observer and fuzzy PID controller based on the inverted pendulum model and the relationship between steer angle and camber angle, and simulation of MATLAB is performed to prove the validity of these controllers, and compares the performances among three controllers.