无人自行车平衡及路径跟踪耦合控制策略研究

Research on Coupling Control Strategy for Balance and Path Tracking of Unmanned Bicycles

为提高自行车自行驶过程稳定性,提出一种实现车身平衡及路径跟踪耦合控制策略。由自行车动力学模型得到车身理想倾角与前轮转角关系,在惯性飞轮提供外力矩实现车身平衡的基础上,将车身主动倾斜辅助惯性飞轮平衡车身。当惯性飞轮电机输出功率饱和或车身受横向干扰时,前轮转向由路径跟踪切换至辅助车身平衡。研究测试表明:提出的控制策略,实现车身自平衡及路径跟踪,同时减小惯性飞轮电机输出力矩,有效提高了自行车行驶过程的抗干扰性。

In order to improve the stability of the bicycle self-riding process,a coupling control strategy of body balance and path tracking was proposed.The relationship between the ideal inclination Angle of the body and the front wheel Angle was obtained from the bicycle dynamics model.Based on the external torque provided by the inertial flywheel to realize the body balance,the body was actively tilted to assist the inertial flywheel to balance the body.When the output power of the inertia flywheel motor is saturated or the body is affected by lateral interference,the front wheel steering is switched from path tracking to auxiliary body balancing.The simulation results show that the proposed control strategy can realize the self-balancing and path tracking of the body,and reduce the output torque of the inertia flywheel motor.It effectively improves the anti-interference property of the bicycle driving process.