자립형 무인 자전거 로봇에 관한 연구

Abstract

Recently, a bicycle has drawn one’s attention not because its use of recreation but because its commuting ability. As a bicycle is generally powered by human muscle, it does not require fossil fuels to move forward, by which it does no cause any environmental pollution. However, safety problems are always accompanied due to its instability inherent in the bicycle dynamics. In order to overcome its drawback, electric power-assisted bicycles have been developed and used in daily life, but most of them only assist the pedal driving of a bicycle without helping stabilize its balance. Some researchers have proposed physical bicycle models based on the bicycle dynamics and kinematics in order to improve the balancing while moving forward. It is expected that such researches could improve the safety and efficiency of bicycle. R. S. Sharp proposed a bicycle model, which was called as “Sharp Model”, and lots of research were conducted based on this model. However, due to the complexity of the model, it is hard to implement it as real bicycle balancing control. In this paper, a practical control algorithm for bicycle balancing is proposed. To simplify the bicycle dynamics, it is assumed that following two assumptions are satisfied. Firstly, the moving effect of a rider is ignored. Secondly, the speed of a bicycle is fixed. Based on the proposed model, the PI and PID controller are designed and implemented through experiments. Then, efficiency of the proposed model with the PI and PID controller are confirmed through simulations and experiments of an unmanned bicycle robot.