Unmanned bicycle balance control method based on rate gyroscope

Abstract

An unmanned bicycle balance control method based on a rate gyroscope comprises the following steps: (1) establishing an unmanned bicycle balance system model; (2) designing a vertical attitude balance controller; and (3) according to offset signals collected by an offset sensor, calculating and obtaining a control moment through a control algorithm, and providing the control moment to a rate gyroscope framework so as to generate corresponding restoring moment on a bicycle frame. The unmanned bicycle balance control method based on the rate gyroscope can effectively control the vertical balance of the unmanned bicycle.

Description

technical field [0001] The invention relates to unmanned bicycle technology, in particular to an unmanned bicycle balance control method based on a rate gyroscope. Background technique [0002] Since the birth of mobile robots in the 1960s, researchers have always dreamed of studying unmanned intelligent vehicles. As an important part of intelligent transportation systems, unmanned bicycles eliminate the influence of human uncertainties, not only can improve driving safety, but also It can solve traffic congestion and improve energy efficiency. Baidu once announced the development of complex artificial intelligence unmanned bicycles. This product is an unmanned bicycle with complex artificial intelligence such as environmental perception, planning and self-balancing control. The achievements of deep learning, big data and cloud computing technologies, however, there is no disclosure of technical details. At present, most of them adopt a sports intervention service system wi...

AI Technical Summary

Problems solved by technology

[0003] The unmanned bicycle is a typical unstable system, which is based on the bicycle and is equipped with an actuator that turns the handle and drives the rear wheel. In order to achieve the stable balance of the unmanned bicycle during riding, an anthropomorphic control strategy is adopted. According to daily experience, turn the handlebar upwards in the direction of dumping, so that the gravity component of the dumping of the bike is transferred to the centripetal force of the car body as a curved motion, to avoid the car body from tipping over, and the rider adjusts his own center of gravity, which can assist in turning The bicycle body is corrected from the tilted direction to the balance point. The function of the bicycle is similar to that of an inverted pendulum. However, the dynamic characteristics of the former are more complicated. It is an ideal experimental platform for studying nonlinear control\intelligent control and other control methods. It has great significance in theory.

And at present, most bicycle body balance controllers are designed under the condition that the vehicle speed is constant, and the dynamic behavior of the bicycle has a very large relationship with the speed. Therefore, it is necessary to combine the use of the rate gyroscope according to the speed change. Optimizing the balance control method for unmanned bicycles

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