Balance And Motion Control Of Inertia Wheeled Bicycle

Bicycle is a very common means of transportation,which has the advantages of light,flexible,and low energy consumption,and is deeply loved by people.Although the robot industry is becoming more and more prosperous and mature,bicycle robots are rarely developed in society and academia.And because the bicycle with two wheels longitudinally arranged front and rear is an under-actuated nonlinear and unstable system,and its balance control is recognized as a very difficult problem.This paper uses the methods of analysis,modeling,design and implementation to study the balance control of a bicycle robot with an inertial wheel structure.This paper analyzes and summarizes the development history of bicycle robot and the research direction at home and abroad,explains the reason of choosing inertia wheel balance bicycle as the research object,and gives the importance and necessity of the research on this kind of bicycle robot.Then this paper analyzes the special structure of the bicycle robot is analyzed.Taking the inertia wheel as the breakthrough point,the mechanical structure of the bicycle is simplified.Based on this,the Lagrange method is selected to establish its dynamic model,and with the help of simulation tool,the validity of the model is verified.With the study of PID control and sliding mode control,which combined with fuzzy control method,this paper analyzes and compares the advantages and disadvantages of each control algorithm and its control effect.Then the fuzzy PID control method is selected to be applied to the bicycle robot.In the process of the actual machine verification and comparative analysis of the bicycle robot’s balance control,the Kalman filter is used to preprocess the sensor signal in order to suppress noise.Using the embedded development software to complete the design of the balance controller of the system,the controller realizes the online real-time tuning of parameters.The final results of the experiment show that the bicycle balance controller designed in this paper can keep the system in balance in both stationary and moving states,which achieves a good control effect.