Research And Implementation Of The Bicycle Robot Based On The Inertia Wheel

Due to its simple structure, efficient operation and strong adaptability to the road, bicycle robot has important significance In the areas of theoretical research and practical application. The key technology of this research is the vertical control. At present, the research has some achievements on the vertical balance control,but it failed to get practical application because of its large volume, heavy weight,high energy consumption. In this paper, a vertical control system has been successfully developed, which maintained the balance by K60 control a inertia wheel. It has great advantage in the balancing mechanism because of its simple structure, small volume, low energy consumption, light weight and so on.This article presents a detailed introduction on the principle of inertia wheel keep balance, the selection of hardware strucfures,and the advantages & disadvantages of different software control strategies. Through the overall debugging and running, In the end, a smooth operation, strong anti-disturbance ability of the inertia wheel type bicycle robot is made.