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Modeling and Control of an Active Stabilizing Assistant System for a Bicycle
Chih-Keng Chen1, Trung-Dung Chu2, Xiao-Dong Zhang3
1Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10608, Taiwan. ckchen@ntut.edu.tw.
Sensors (Basel, Switzerland)
|January 13, 2019
Summary
This study introduces an active stabilizing assistant system (ASAS) for bicycles, utilizing flywheels for improved stability and rider safety. The ASAS enhances bicycle handling, requiring fewer rider control actions for better performance.
Area of Science:
- Robotics and Control Systems
- Mechanical Engineering
- Biomechanics
Background:
- Bicycle stability is crucial for rider safety and performance.
- Existing systems often rely on passive mechanisms or rider input.
- Active stabilization systems offer potential for enhanced control.
Purpose of the Study:
- To design and control an active stabilizing assistant system (ASAS) for bicycles.
- To investigate the gyroscopic effect of flywheels for bicycle stabilization.
- To evaluate the impact of ASAS on riding performance and safety.
Main Methods:
- Developed a 14-degree-of-freedom model of a bicycle-rider system with ASAS using Lagrange equations.
- Simulated system dynamic behavior to assess ASAS efficacy.
- Compared simulation results of ASAS-equipped bicycles with traditional bicycles.
Main Results:
- The ASAS generates stabilizing torques using spinning flywheels.
- Simulations demonstrated improved handling for bicycles with ASAS.
- Fewer rider control actions were required with the ASAS across various conditions.
Conclusions:
- The active stabilizing assistant system (ASAS) effectively enhances bicycle stability and performance.
- The gyroscopic effect of flywheels is a viable mechanism for active bicycle stabilization.
- ASAS integration leads to improved rider safety and reduced control effort.
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