Dynamic compensation and control of a bicycle robot

Abstract

This research presents the dynamic compensation and balancing control of a bicycle robot. Due to unstable system, balancing control of a bicycle robot or unmanned vehicle system desires to enforce the system stabilization. Using gyroscopic effect principle for balancing control, system is designed by applying the principle of mechanical fly wheels to produce the torque effort. Mechanical fly wheel is composed of a couple of two rigid mechanical fly wheels, and rotated about fixed reference axis that produces the angular momentum. When angle of rotated fly wheels are changed according to lean angle error, the precession torque is produced to compensating lean angle of bicycle robot dynamically. Dynamic equation of motion is derived from Lagrange's equation in according to both balancing and steering control methods. To controlling the desired lean angle, an error derived from the lean angle deviation is controlled proportionally to angular rotation of fly wheels by using PD controller. Simulation study is verified to finding the relationships of disc angular velocity and angle of rotated disc in different angular momentum. From simulation results, torque can be produced by mechanical fly wheels to compensating robot balancing control and planed for experiment for performance validation in the next step.