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Multibody dynamic modeling and controlling for unmanned bicycle system.

Yongli Zhang1, Guoliang Zhao2, Hongxing Li3

  • 1School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin 300222, People's Republic of China; School of Information Technology of Beijing Institute of Technology, Zhuhai 519088, People's Republic of China.

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This study models an unmanned bicycle

Keywords:
Feedback controlMultibody dynamic modelingStabilityUnmanned bicycle

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Area of Science:

  • Robotics and Mechanical Engineering
  • Dynamics and Control Systems

Background:

  • Bicycle dynamics and stability are complex, involving multi-rigid-body interactions.
  • Understanding these dynamics is crucial for developing autonomous systems like unmanned bicycles.

Purpose of the Study:

  • To establish an accurate mathematical model for an unmanned bicycle's dynamic multi-rigid-body system.
  • To analyze the stability of the unmanned bicycle and identify key influencing parameters.
  • To reveal the balance mechanism and inform bicycle design evolution.

Main Methods:

  • Utilizing the Kane method for deriving the dynamic model of the unmanned bicycle.
  • Performing stability analysis based on the derived mathematical model.
  • Conducting simulations and physical experiments to validate the model and control strategy.

Main Results:

  • An accurate dynamic model of the unmanned bicycle was successfully established.
  • The influence of structural parameters (wheelbase, centroid, head fork angle, fork trail, velocity) on stability was analyzed.
  • Four universal laws for bicycle balancing were summarized.
  • A full state feedback control strategy was developed and validated.

Conclusions:

  • The developed dynamic model provides theoretical evidence for optimizing bicycle structure parameters.
  • The study reveals fundamental principles governing bicycle balance and stability.
  • The control strategy demonstrates effectiveness in simulations and physical experiments, confirming the model's validity.