Autonomous balance bicycle mechanical power system and a multi-rigid-body dynamic model thereof

Abstract

The invention relates to an autonomous balance riding bicycle mechanical power system and a multi-rigid-body dynamic model thereof, the mechanical power system comprises a mechanical system and an electrical control system, and the mechanical system comprises a bicycle body, a rear wheel, a front fork and a front wheel; the electric control system comprises an industrial personal computer, a direct-current power supply and an electronic gyroscope, a front fork tail adjusting device is arranged at the joint of a front fork and the vehicle body, a servo driving motor is arranged on a rear wheel,and a direction adjusting servo driving motor is arranged on the front wheel and connected with the industrial personal computer through a bus; a Kane method is adopted to establish a multi-rigid-body dynamic model of the autonomous balance riding bicycle. The method has the beneficial effects that a reliable theoretical basis is provided for the structure, parameter optimization and control system design of the autonomous balance riding bicycle; an autonomous balance running bicycle state space model is established by means of a multi-rigid-body dynamics model, and autonomous balance runningof the bicycle is achieved based on a cascade stage optimal control algorithm of a speed function.

Description

technical field [0001] The invention relates to the field of power bicycles, in particular to a mechanical power system of an autonomously balanced traveling bicycle and a multi-rigid body dynamics model thereof. Background technique [0002] Bicycles have been in existence for more than one hundred years, and their balance has always been a hot topic of research. The autonomous control (unmanned driving) problem of bicycle is also a typical underactuated control problem. There are many scientific research institutes or institutions at home and abroad have made a lot of explorations on bicycle unmanned driving technology, and have achieved certain results, but there are still many problems to be solved in the cognition of bicycle power system and its control technology. The research on multi-rigid body modeling and autonomous control of self-balancing bicycles not only solves the problem of balance control of two-wheeled robots, but also provides effective solutions and ide...

AI Technical Summary

Problems solved by technology

At present, there are no relatively mature theoretical and experimental results on the autonomous control technology of bicycles. The problems to be solved urgently include: accurate modeling of multi-rigid body dynamics of bicycles, optimization of straight-line driving algorithms for mechanical systems; static balance control of autonomously balanced bicycles, etc.

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