Research On Dynamic Modeling And Control Of An Unmanned Bicycle On An Inclined Plane

With the development of unmanned intelligent driving technology,unmanned bicycle has a good application prospect in carrying goods,rescue and other aspects,and has become a research hotspot of many scholars at home and abroad in recent years.Although the bicycle is simple in structure,as a typical nonlinear and strongly coupled multi-rigid body system,it contains rich dynamic behavior.In this paper,the self-stabilization and control of an unmanned bicycle on inclined pavement are studied from the aspects of dynamic modeling,controller design and simulation analysis.The bicycle with momentum wheel structure is taken as the research object.According to the kinematics characteristics of the bicycle system on the inclined plane,the corresponding coordinate systems are established on the five rigid bodies of the bicycle system,and the generalized coordinates describing the motion attitude of the bicycle system are selected.Aiming at the non-holonomic constraint problem of bicycle in contact with inclined surface,the first order linear velocity constraint equation of bicycle moving on inclined road surface is derived.The Lagrange function of the five rigid bodies in the bicycle is established by analyzing the motion of the five rigid bodies in the bicycle.Based on Lagrange method,the nonlinear dynamic equations of bicycle system with Lagrange multiplier are established.Based on the approximate linearization of Taylor series near the equilibrium point of the system,the linearized dynamic equation of the bicycle system is obtained,and the stability and controllability of the model are analyzed.Based on the coupling relationship between the four parameters of the bicycle system,the cascade PID controller and the fuzzy PID controller are designed respectively when the bicycle moves uniformly in a straight line on the inclined road surface.Through MATLAB/Simulink module,two kinds of controllers are modeled and simulated respectively,and the control effect of two kinds of controllers on bicycle incline motion is analyzed.The simulation results show that both the cascade PID controller and the fuzzy PID controller can realize the steady running of the bicycle on the inclined plane.However,the overshoot of the bicycle system under the fuzzy PID control mode is reduced compared with the cascade PID control mode,which reflects the better response performance of the fuzzy PID controller.