| Unmanned bicycles have the advantages of simple mechanism,low energy consumption,light weight,etc.And can adapt to relatively narrow areas,so they have good application prospects in the fields of material transportation and security inspection.In the existing motion control research on unmanned bicycles,the main focus is on the control of its lateral balance motion,which is also the main research content of this paper.At the same time,considering that the actual application environment of unmanned bicycles is relatively complex,and they will be subject to different external disturbances when driving on different terrains,the bicycles are required to have a certain robustness that can overcome these external disturbances.Therefore,this research will focus on improving the stability of the lateral balance motion of unmanned bicycles.Taking unmanned bicycles without mechanical assistance as the research object,an active disturbance rejection controller is designed to adjust the body motion posture in real time,so as to realize unmanned and unmanned bicycles.Lateral balance movement of the bicycle.The specific research contents are as follows:1)Establish a suitable nonlinear dynamic model for the existing unmanned bicycle physical prototype and linearize it.The complete and non-holonomic constraints of the unmanned bicycle system are analyzed,and the Chaplekin equation is used to establish the nonlinear dynamic model of the unmanned bicycle,which is used to calculate the state response of the system in the numerical simulation;at the same time,considering the controller engineering To meet the real-time requirements of the optimization,the established nonlinear model is linearized,and the accuracy of the linear system is verified by comparing the torque response.2)Complete the design of the ADRC based on the linearized model obtained by processing.According to the principle of the active disturbance rejection control method,the controller is designed in two parts: the first part designs two state observers,which are used to observe the roll angle,roll angular velocity,handlebar angle and handlebar angular velocity,and estimate the vehicle body at the same time.The received lumped disturbance;the second part introduces full-order sliding mode control as the part of the linear state feedback control law.Finally,the stability of the controller is verified.3)Use the Matlab-Simulink tool for lateral balance motion simulation.The numerical simulation is divided into two parts: the first part is the lateral balance simulation of the active disturbance rejection controller,and the second part is the lateral balance simulation of the full-order sliding mode controller robustness analysis.4)According to the designed ADRC controller,write a C++ program on the industrial computer of the physical prototype,and carry out the lateral balance experiments of the ADRC controller and the full-order sliding mode controller for the unmanned bicycle respectively,and collect the vehicle body during the experiment.Each state data of,the robustness of ADRC is analyzed by comparing the data images.In this paper,aiming at the complex road conditions in the practical application environment of unmanned bicycles,a controller with strong anti-disturbance capability is designed with reference to the active disturbance rejection control method,and the numerical simulation and physical prototype experiment of the lateral balance motion are completed.The research results show that the controller has a certain robustness to overcome external interference,and can effectively improve the adaptability of the unmanned bicycle to the external environment.This result can be used as a basis for research on trajectory control of unmanned bicycles. |
