基于陀螺仪的无人自行车平衡控制方法

Gyro-based Stabilization Control Method for Unmanned Bicycle

针对零速无人自行车平衡控制问题,提出一种基于陀螺仪的直立姿态平衡控制方法;首先,针对自行车平衡控制系统,依据拉格朗日方法建立无人自行车非线性动力学模型,然后,采用根轨迹方法设计直立姿态平衡控制器;最后,使用DSP 28335作为核心控制器,设计相应的外围数据采集与处理单元,以及上下位机软件,依据偏移传感器采集到的偏移信号,经过控制算法运算得到控制力矩,将其作用给陀螺仪框架,从而在自行车车架上产生对应的恢复力矩;相关测试结果表明,文章给出的方法能够有效控制无人驾驶自行车的直立平衡。

A gyro-based stabilization control method is proposed in this paper for stabilization of zero-speed unmanned bicycle.Firstly,nonlinear bicycle dynamics are modeled using Lagrange＇ s method.Then a stabilization controller is designed using root-locus method.Finally,DSP 28335 is used as controller core to produce a restoring torque on the bicycle frame by actuating the gyroscope gimbal axis,which is generated by the designed controller using the measured offset signal,with peripheral data acquisition,processing unit and corresponding software.The related experimental test results show that the proposed method is effective and could stabilize zero-speed unmanned bicycle.