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A model-based self-balancing unmanned bicycle and its model-driven control method

An unmanned and bicycle technology, applied in the field of transportation, can solve the problem of no direct driving force for the two wheels, and achieve the effect of simplifying the adjustment

Active Publication Date: 2020-11-20
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The front handle of the bicycle has a high degree of freedom, and the two wheels have no direct drive force
Therefore, the driving force that causes its balance on a motorcycle or electric bicycle does not exist on a bicycle, and its balancing method is invalid on a bicycle, which brings more difficulties to the self-balancing and unmanned driving of the bicycle
[0005] At present, there have been some researches on bicycle models, but since no one has considered how to match the corresponding controllers for balance control, there is no research on the mechanism model of bicycles with multiple balance controllers.

Method used

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  • A model-based self-balancing unmanned bicycle and its model-driven control method
  • A model-based self-balancing unmanned bicycle and its model-driven control method
  • A model-based self-balancing unmanned bicycle and its model-driven control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0114] Taking the balance control of an unmanned bicycle with the model-driven control method as an example, an unmanned bicycle with self-balancing function will be described in detail below.

[0115] At time t0, before being put into use by users, the three devices, the handlebar control module, the middle control module of the car body, and the rear control module of the car body (including the sensor module), are installed on the ordinary bicycle, and the model-driven The control method builds the controller and superimposes the driverless control method.

[0116] Such as Figure 4 As shown, the specific steps of the control method driven by the bicycle model are as follows:

[0117]1) Selection of key variables: select controllable and considerable key variables, including the variables of the bicycle and the control variables of the handlebar control module, the middle control module of the car body, and the rear control module of the car body; the variables of the bicy...

Embodiment 2

[0135] Taking the balance control of an unmanned bicycle with the control method driven by data acquisition as an example, a kind of unmanned bicycle with self-balancing function will be described in detail below.

[0136] At time t0, before being put into use by users, the three devices, the handlebar control module, the middle control module of the vehicle body, and the rear control module of the vehicle body (including the sensor module), are installed on the ordinary bicycle, and are driven based on data collection. The control method of the controller is established, and the control method of the unmanned vehicle is superimposed.

[0137] Such as Figure 5 As shown, the specific steps of the data acquisition-driven control method are as follows:

[0138] 1) Data acquisition: the sensor module measures the variables of bicycles and human body variables when ordinary people ride bicycles; the variables of bicycles include bicycle handlebar deflection angle α, bicycle body ...

Embodiment 3

[0162] Taking the learning of driving habits of an unmanned bicycle as an example, an unmanned bicycle with a self-balancing function will be described in detail below.

[0163] At time t0, that is, before being put into use by the user, the three devices of the handlebar control module, the middle control module of the car body, and the rear control module of the car body (including the sensor module) are installed on an ordinary bicycle, and are self-balancing The control method and the control method of unmanned driving are set.

[0164] At time t1, it is used by athletes or coaches for a period of time, and the study of healthy driving habits that minimize damage is carried out to obtain a healthy bicycle variable control method, that is, good cycling habits.

[0165] At time t2, it will be put into use by users and habit correction will be carried out. The described habit correction is carried out by superimposing the control of the bicycle by the three controllers on th...

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Abstract

The invention discloses a model-based self-balancing driverless bicycle and a model-driven control method thereof. The self-balancing driverless bicycle includes a bicycle, a sensor module, a handlebar control module, a middle control module of the vehicle body and a rear vehicle body. internal control module. The control method includes two parts: self-balancing control and driverless control. The self-balancing control is driven by the bicycle model, and the controller is designed through the mechanism construction model to achieve the self-balancing of the bicycle. Unmanned driving control selects the desired bicycle variables based on the target motion state to achieve unmanned driving of the bicycle. The driverless bicycle of the present invention can have a self-balancing function in a variety of motion states through the coupled control method. At the same time, it adopts an indirect drive method and does not require further modification of ordinary bicycles. It only needs to combine three controls. If the controller module is installed on an ordinary bicycle, the bicycle can realize self-balancing and unmanned driving.

Description

technical field [0001] The invention relates to the traffic field, in particular to a model-based self-balancing unmanned bicycle and a model-driven control method thereof. Background technique [0002] As a traditional means of transportation, bicycles have the advantages of narrow body, simple mechanism, small-radius rotation, convenience and flexibility, no pollution, no noise, no need for energy, and low price. It plays a pivotal role in the life of modern people whose problems such as rising and falling are becoming more and more serious. Unmanned bicycles can not only provide driving balance assistance for some special groups such as children and the elderly, but are also expected to be widely used in disaster rescue and forest operations. [0003] As people's attention to intelligent vehicles and unmanned driving technology continues to increase, driverless bicycles or bicycle robots have made initial developments on the basis of this concept of intelligent vehicles....

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62K3/00B62K11/00B62J45/40G05D1/02G05D1/08
CPCG05D1/0221G05D1/0223G05D1/0891B62J99/00B62K3/00B62K11/00B62K2202/00B62J45/40
Inventor 孟濬赵夕朦
Owner ZHEJIANG UNIV
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