Design and Control of a Self-balancing Bicycle Using an Electric Linear Actuator

Control;Autonomous;Balance;Stability;Robotics;Electrical Engineering;Electrical Engineering, College of Engineering & Computer Science

Fawaz, ZiadMuench, Paul ;

University of Michigan

关键词: Control;    Autonomous;    Balance;    Stability;    Robotics;    Electrical Engineering;    Electrical Engineering, College of Engineering & Computer Science;   

Others  :  https://deepblue.lib.umich.edu/bitstream/handle/2027.42/148871/MastersThesis_FinalDraft%20%283%29.pdf?sequence=1&isAllowed=y

瑞士|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

In this thesis, we utilize a high speed electric linear actuator to provide a bicycle with automatic steering capabilities that enable self-balancing when set in motion. Equations of motion of a bicycle are derived and a second-order linear system is used to model and simulate the bicycle. A PID controller design governs the steering actuation mechanism from lean angle measurements collected from a MEMS 6-axis gyroscope and accelerometer. Experimental tests on the feedback system are presented. These experimental results are improved upon by using a gain scheduling controller scheme. Additional results are presented from experiments conducted on the semi-autonomous bicycle at various speeds.