Research About Dynamic Modeling And Control Of Variable Structure Bicycle Robot

By the appearing of Segway self-balance car and the requirement of energy and greenhouse reductions, a fever of mini self-balance robot studying is spread in the world. The research of two-wheelers has last for a long time. At beginning of research, scholars have focused on bicycle which had a long history as a transport. They have analyzed the dynamic characteristic and tried to make self-balance bicycle. The appealing of Segway has changed people’s cognitions about two-wheelers. The differences between bicycle and Segway have also been discussed.In this thesis, the study object is a kind of self-balance robot which can change its structure between bicycle and Segway. The research is focus on the dynamic modeling, controller design and simulation, virtual prototype design and parameter identification and the physical prototypes design and test.The structures of variable structure bicycle robot’s (VSBR) modes of Segway and bicycle analysis has been made first. Then the dynamic model of VSBR’s Segway mode was built by Lagrange equation. After that we built the dynamic model of VSBR’s bicycle mode when its first wheel was rotated to45degrees by its front fork with Routh equation. At the end of this part, the dynamic model of VSBR’s bicycle mode when its first wheel was rotated to90degrees by its front fork was built by Appel equation. The next part was mainly about the design of controller. At first the LQR PID controller was design for the Segway mode. Then the neural networks robustness controller and neural networks sliding mode controller were built for45degrees and90degrees bicycle mode respectively. After the building of controllers, we made simulation of those controllers on the MATLAB and got ideal results. After theoretic research, the virtual prototype has been built with SolidWorks. Then we designed an experiment of parameter identification which was based on genetic algorithm to validate dynamic model. At last, we built the physical prototype of VSBR. Then we tested the measurement and control system and analyzed the results.