Abstract
Bicycle is a typical unstable system. Although it is partly similar to the inverted pendulum systems, the complex mechanical characteristics cause that it is difficult to be analyzed and controlled. In this paper, Constrained Lagrangian method is used to building a rider-less bicycle dynamic model. Through the analysis of the dynamic model, the control system is designed to be divided into two parts: the forward control and the balance control. The rear wheel gets a stable speed by controlling the torque of the motor. Steering Angle Balance Control method is designed to keep the system balance. Use ADAMS to simulate a rider-less bicycle control system. The simulation shows that using Steering Angle Balance Control method can balance the bicycle to run forward and swerve stably.
Keywords
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Getz, N.H., Marsden, J.E.: Control for an autonomous bicycle. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation, vol. 2, pp. 1397–1402 (1995)
Iuchi, K., Niki, H., Murakami, T.: Attitude control of bicycle motion by steering angle and variable COG control. In: 31st Annual Conference of IEEE (IECON 2005), 6 pp. Industrial Electronics Society (2005)
Tanaka, Y., Murakami, T.: A study on straight-line tracking and posture control in electric bicycle. Industr. Electron. IEEE Trans. 56(1), 159–168 (2009)
Tanaka, Y., Murakami, T.: Self sustaining bicycle robot with steering controller. In: The 8th IEEE International Workshop on Advanced Motion Control, 2004 (AMC’04), pp. 193–197 (2004)
Yonghua, H., Qizheng, L., Shimin, W., Lei, G.: Control system design for a bicycle robot based on double DSP. Comput. Meas. Control, 19(12), 2965–2968, 2988 (2011) (in Chinese)
Guo, L., Huang, Y., Liao, Q., Wei, S.M.: Kinemics analysis for self-balancing bicycle robot. J. Beijing Univ. Posts Telecommun. 34(6), 99–102 (2011) (in Chinese)
Zhong W.: Design of embedded control system for the riderless bicycle. Beijing University of Posts and Telecommunications (2010) (in Chinese)
Yu X.: A study on the control and realization for bicycle robot nonlinear system. Beijing University of Posts and Telecommunications (2010) (in Chinese)
Jingang, Y., Yizhai, Z, Dezhen, S.: Autonomous motorcycles for agile maneuvers, part I: dynamic modeling. In: Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009, pp. 4613–4618 (2009)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer Science+Business Media Singapore
About this paper
Cite this paper
Feng, Y., Du, R., Xu, Y. (2017). Steering Angle Balance Control Method for Rider-Less Bicycle Based on ADAMS. In: Lu, H. (eds) Proceedings of the Second International Conference on Intelligent Transportation. ICIT 2016. Smart Innovation, Systems and Technologies, vol 53. Springer, Singapore. https://doi.org/10.1007/978-981-10-2398-9_2
Download citation
DOI: https://doi.org/10.1007/978-981-10-2398-9_2
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-2397-2
Online ISBN: 978-981-10-2398-9
eBook Packages: EngineeringEngineering (R0)