| Summary: | 碩士 === 國立清華大學 === 動力機械工程學系 === 103 === This thesis investigates the issue of the bicycle-riding robot via dynamic analysis of the bicycle. Assumed that the rear wheel and the front wheel of the bicycle with their own degree of freedom in the space coordinate. After considering the length of the bicycle, the relationship of the roll and yaw angle between the rear and front wheel and other restrictions, a bicycle model has been resembled. Using the Euler-Lagrange equation derives the dynamic equation and finds that it is unstable on the roll direction after linearization; however, when the bicycle speeds up, the controllability of the steering angle can be improved. Moreover, we find that the yaw rate is influenced by the steering angle directly. A balance controller and a steering controller are designed using the linear model. Simulations show that the bicycle-riding robot can keep balance and turn around by the state feedback control. Because the system is unstable in the open-loop and there is a non-minimum phase phenomenon, we implement the controller on the bicycle-riding robot and verify the performances and the characteristics of the dynamic analysis and discuss the results.
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