Research On Robotic Bicycle System Design And Modeling Control

With economic development and advancement of urbanization,bicycle-sharing has gradually become a widely used means of transportation.When bike-sharing is prevalent,people are also paying more attention to their hidden safety problems.How to maintain the dynamic balance of bicycle will become a key to improve their safety performance.Therefore,this dissertation is devoted to the study of the realization of the dynamic balance of robotic bicycles.The main work includes the research on the modeling and control theory of robotic bicycles and the development of robotic bicycle systems.In addition,we will use the system to conduct experiments and evaluate the results through experimental data.Before designing the system,the robotic bicycle dynamics modeling and control theory is studied.From the standard robotic bicycle composition structure,the theory of dynamic modeling is introduced,and then the robot bicycle is analyzed in the coordinate system,and the kinematic relationship of the robot bicycle under unconstrained state is described.Based on these kinematic relationships,the holonomic and nonholonomic constraint equations are listed after the front and rear wheels of the robotic bicycle touching the ground.By using mathematical methods to eliminate the constraint equation and Lagrange product factor,Euler-Lagrange dynamic equations can be obtained.After completing the dynamic modeling,the model is used to study the dynamic balance of the robotic bicycle.In order to achieve the goal of dynamic balance control,this dissertation will introduce the theory of balance control and design the controller based on th e dynamic equations.And do simulation experiments on the control algorithm under the simulation software,and make a summary evaluation by observing the simulation results.This is the research work in modeling and control theory.After obtaining the control algorithm of the robotic bicycle through the previous theoretical research,it enters the development stage of the robotic bicycle system which mainly involves the following steps:Firstly,the construction of the hardware system of the robotic bike is carried out.The frame of the system is designed using mechanical drawing CAD and then processed by the production workshop.This frame is different from ordinary bicycles for the needs of self-balancing vehicles.After the vehicle structure is successful ly built,various electronic devices are installed,including a motor with an encoder,a sensor to test the turning torque,and a gyroscope to test the tilt angle of the body.After the device installation is completed,the circuit design work is performed,and the circuit connection is completed.Secondly,after completing the hardware design of the system,it enters the software development stage.The hardware system of the robotic bike is controlled by the STM32 main control chip.Therefore,STM32 software development needs to be carried out in KEIL,including the development of hardware operating procedures and programming of balance control algorithms.Among them,the balance control algorithm programming is based on the previous theoretical research results.Software development is mainly around the two cores of hardware operation and balance control.The entire software is written in C language.Finally,we develop an electronic steering wheel.The steering wheel not only has the control function,but also has the function of the assisting system main control chip to calculate the steering angle.The development work of the steering wheel is to use Altium-designer to design the relevant design drawing of the control circuit board of the steering wheel,then draw out the printed circuit board according to the design drawing and complete the welding of electronic components.In addition,the supporting software of the circuit board must be developed,and the development process is carried out in the KEIL environment.UCOS system will be transplanted into this software system.The development work includes some hardware initialization and operating system task creation and other programming work.After the development of the system is completed,the robotic bike system is used for experiments,and the experimental test results are analyzed to evaluate the dynamic balance performance of the system.Because this system belongs to a large-scale robotic bicycle,in order to reduce personnel risks,the experimenta l platform of this project is also equipped with a remote control and a receiving device as a remote-control tool.