| Summary: | 碩士 === 國立臺灣大學 === 農藝學研究所 === 102 === In this study, we developed self-riding bicycles with a gyroscopic balancer controlled by fuzzy sliding mode control (FSMC) and a reacting moment canceling balancer (RMC balancer) controlled by PID. The riderless bicycle with the gyroscopic balancer and FSMC controller has the advantages of fast system response and relatively high robustness to disturbances. Even if hit by a bottle, filled with two liters of water, suspended 50 cm away from a pivot like a pendulum, and swung 90 degrees from its equilibrium position, the bicycle is still highly stabilized. The gyroscopic balancer is the balancer with the least mass ratio of balancer to bicycle among various bicycle balancers, and it can effectively produce a moment to prevent the bicycle from falling down. Moreover, the bicycle with the gyroscopic balancer controlled by FSMC can outperform the one with PID under highly uncertain environment. The FSMC intuitively comprehended by human operators is suitable for bicycle manipulation. It can significantly reduce the design complexity of a controller for the riderless bicycle. The design idea of FSMC is creating a sliding surface served as a balancing index which incorporates three factors, the lean angle of the bicycle, the rate of lean angle of the bicycle, and the rotation angle of the gyroscopic balancer. The bicycle dynamics models with the gyroscopic balancer and RMC balancer are proposed respectively to simulate and validate the design concept on the balancing performance of the bicycle. Finally, experiments are designed to demonstrate that the riderless bicycle system with the gyroscopic balancer remains upright and stationary under impact disturbances even when the bicycle doesn’t move forward. Furthermore, the riderless bicycle with the gyroscopic balancer can go, turn left within 40 degrees and turn right within 22 degrees without falling. However, the riderless bicycle with the RMC balancer under zero forward velocity can balance only within 4 seconds, since the reacting moment and gravity effect are antagonism. As a result, we consider the feasibility investigation on applying RMC balancer to bicycle with gyroscopic balancer to improve the stability of the self-riding bicycle system.
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