| Summary: | 碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 107 === This study aims to develop a more robust riderless bicycle system. In order to overcome external disturbance and internal uncertainty, we use a gyroscopic balancer and the control strategy combining fuzzy sliding mode control (FSMC) and dynamic compensation.
There are two aspects of the dynamic compensation. First is to improve control performance by incorporating the steady state error of sliding value. With PID control voltage compensation and PID sliding value compensation, FSMC control voltage and sliding value zero are adjusted respectively by the state error. Second is to further improve the performance by applying the compensation for handlebar turning. If the turning angel is changed, results in movement of the system equilibrium position, the compensator adjusts immediately to maintain the balance stability.
The dynamic model of the system is derived based on Lagrange equation; then all state variables converged to equilibrium point by FSMC, proved by the numerical simulation. Next, combining FSMC with the dynamic compensation makes the riderless bicycle system be more capable of resisting constant disturbance, proved by field testing with one-sided loading.
Tested by multiple sets of one sided loading, PID control voltage compensation combined with FSMC can bear 8.20N-m one-sided loading, improving 53% one-sided loading capability compared with only using FSMC; PID sliding value compensation combined with FSMC has better effect and can bear 9.46N-m one sided loading above, improving 76% one sided loading capability compared to only using FSMC. Afterward, relation between turning angle and compensation value is found out by regression analysis and applied in handlebar compensation. In the end, the riderless bicycle with the approach developed in the study successfully circles on asphalt road without falling down.
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