Balancing Control of Two-Wheel Bicycle Problems

Ngoc Kien Vu,Hong Quang Nguyen

doi:10.1155/2020/6724382

Abstract

In recent years, more and more scientists have been interested in research on driving two-wheel bicycles. The problems in two-wheel bicycle control problem are self-balancing, uncertain models, and the impact of noise. In the paper, to solve the self-balancing problem, we use the flywheel method according to the inverted pendulum principle. To overcome the effects of the uncertain model, the impact of noise, we designed the vehicle balance controller according to the robust control algorithm. However, robust controllers often have a high order, which affects the quality during real control. To simplify the robust controller, we propose the use of a model order reduction algorithm. The simulation and experimental results have proved the correctness of the solutions given in the paper.

Highlights

Two-wheel bicycles have been invented for a long time, the dynamics and the way to control the balance of two-wheel bikes are still exciting and mysterious topics for researchers
Two-wheeled bicycle models using flywheels are based on the principle of gyroscope [11,12,13,14,15,16, 18,19,20,21,22, 24] to create a balanced moment for the bicycle; the flywheel usually has to rotate at high speed, so the flywheel dissipates a large amount of energy. e typical work of this group is the research of Lam [18, 19]; the author has built a self-balancing two-wheel bicycle based on a small bicycle model using flywheels operating under gyroscope principle
We focus our research on designing a loworder robust controller for the control problems of selfbalancing two-wheel vehicles in two steps: (i) Step 1: Design a RH∞ robust controller to control the balance of two-wheel bicycle; the finder controller is called a full-order controller

Summary

Introduction

Two-wheel bicycles have been invented for a long time, the dynamics and the way to control the balance of two-wheel bikes are still exciting and mysterious topics for researchers. E typical work of this group is the research of Lam [18, 19]; the author has built a self-balancing two-wheel bicycle based on a small bicycle model using flywheels operating under gyroscope principle. Ere are many proposed balance control algorithms for two-wheel bicycle, such as nonlinear control of Lee and Ham [8], Beznos [13], compensator design using root locus approach of Gallaspy [16], PD control of Surpato [19, 24], PID control of Lee et al [23], and fuzzy control of Chen and Dao [2,3,4] These control algorithms are not robust; the two-wheel bicycle model cannot carry loads with varied weights and cannot work in disturbance environments. Experimental results of two-wheel bicycle control are presented in Part 5. en, the conclusion of this research is described in Part 6

Balance Control Two-Wheel Bicycle Problem

Figure 3

Model Order Reduction Algorithm for Unstable System

Apply MOR Algorithm in Balance Control Two-Wheel Bicycle Problem

Experiment Results