Research On Lateral Balance Control Of Unmanned Bicycle Based On Model Prediction Method

Unmanned bicycle has the advantages of safety and reliability,energy conservation and environmental protection,simple structure and so on.Balance ability is an important feature to measure the performance of unmanned bicycles.The self balance adjustment of unmanned bicycles is divided into adjusting the body balance through mechanical adjustment device and adjusting the body balance through handlebar steering.Aiming at an unmanned bicycle without mechanical balance adjustment device,this paper studies the lateral balance control of unmanned bicycle by using two control methods: model predictive control(MPC)and linear quadratic regulator(LQR).The main research work is as follows:(1)The linear variable parameter(LPV)model of unmanned bicycle is introduced,and the LPV model of unmanned bicycle is used as the dynamic model in this paper.(2)This paper briefly describes the similarities and differences between MPC and LQR,designs the MPC controller and LQR controller of unmanned bicycle lateral balance movement respectively,and designs the non augmented MPC controller of unmanned bicycle lateral balance movement based on MPC controller.(3)The lateral balance motion of unmanned bicycle is numerically simulated in Matlab / Simulink environment.The lateral balance motion simulation of unmanned bicycle is carried out for non augmented MPC,MPC controller and LQR controller.The angle interference is applied to the body and handlebar,and the torque interference is applied to the control torque,and its performance is analyzed.The comparative analysis shows that the non augmented MPC controller has the advantages of lateral balance motion control of unmanned bicycle without constraints.(4)The physical prototype experiment of lateral balance movement of unmanned bicycle without augmented MPC controller and the physical prototype experiment of lateral balance movement of unmanned bicycle under LQR control are carried out for comparative analysis.This paper studies the lateral balance motion control of unmanned bicycle under different driving speeds and different mass loads.The model predictive control method is used to establish the lateral balance controller.Finally,the numerical simulation and physical prototype experiment are carried out.The results show that the controller has certain robustness to overcome external interference under different driving speeds and different mass loads.This result can provide some reference for the control method of lateral balance movement of unmanned bicycle.