自行车主动稳定辅助系统建模与控制

Modeling and Control of an Active Stabilizing Assistant System for a Bicycle.

机构信息

Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10608, Taiwan.

Department of Mechanical and Automation Engineering, Da-Yeh University, Changhwa 51505, Taiwan.

出版信息

Sensors (Basel). 2019 Jan 10;19(2):248. doi: 10.3390/s19020248.

DOI:10.3390/s19020248

PMID:30634619

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC6359207/

Abstract

This study designs and controls an active stabilizing assistant system (ASAS) for a bicycle. Using the gyroscopic effect of two spinning flywheels, the ASAS generates torques that assist the rider to stabilize the bicycle in various riding modes. Riding performance and the rider's safety are improved. To simulate the system dynamic behavior, a model of a bicycle⁻rider system with the ASAS on the rear seat is developed. This model has 14 degrees of freedom and is derived using Lagrange equations. In order to evaluate the efficacy of the ASAS in interacting with the rider's control actions, simulations of the bicycle⁻rider system with the ASAS are conducted. The results for the same rider for the bicycle with an ASAS and on a traditional bicycle are compared for various riding conditions. In three cases of simulation for different riding conditions, the bicycle with the proposed ASAS handles better, with fewer control actions being required than for a traditional bicycle.

摘要

本研究设计并控制了一种自行车主动稳定辅助系统（ASAS）。该系统利用两个旋转飞轮的陀螺效应，产生辅助骑手稳定自行车在各种骑行模式下的扭矩。提高了骑行性能和骑手的安全性。为了模拟系统的动态行为，开发了一个带有后座椅上 ASAS 的自行车⁻骑手系统模型。该模型有 14 个自由度，是使用拉格朗日方程推导出来的。为了评估 ASAS 与骑手控制动作相互作用的效果，对带有 ASAS 的自行车⁻骑手系统进行了模拟。对同一骑手在带有 ASAS 的自行车和传统自行车上的各种骑行条件进行了比较。在三种不同骑行条件的模拟情况下，与传统自行车相比，带有所提出的 ASAS 的自行车处理得更好，所需的控制动作更少。