| Summary: | 碩士 === 大葉大學 === 機械與自動化工程學系 === 102 === In this thesis, the equations of motion of a bicycle with motion of rider’s upper body are developed. For constraints, rolling-without-slipping contact condition between wheels and ground is considered. For each wheel, two holonomic and two non-holonomic constraints are introduced in a set of differential-algebraic equations (DAEs).
The mathematic equations are then used to implement a simulation routine. To solve the DAEs of motion and ensure numerical accuracy in simulation of the bicycle system, the coordinate reduction computational method with Baumgarte stabilization has also been discussed.
The path-following control is decoupled in two steps. First, the roll-angle-tracking controller is studied to control the bicycle following a reference command. To solve the roll-angle-tracking problem, model predictive control strategies is applied. The performance of model predictive controller will be discussed with difference weight matrices and constraints conditions. Dynamic effects of rider motion to roll-angle-tracking performance will also be discussed in this section.
In the second step, the path-tracking controller is developed to generate appropriate roll-angle reference for the roll-angle-tracking controller in order to control the bicycle following a pre-defined path, by using fuzzy logic controllers. The effectiveness of the control schemes is proven by simulations with the developed mathematic model. Performance of the control schemes are evaluated in more reality conditions when the physical limitations are taken into account.
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