Hope College Engineering Department Research Experiences for Undergraduates Summer 2009 Project Summary

Riding a bicycle is a simple act that most learn at a young age. However, programming a computer to do so is much more complex. Modern control theory has enabled researchers to develop control algorithms that stabilize computer-driven bicycles to be used as military scout vehicles or for safer forms of two-wheeled transportation. Using Newtonian mechanics, we derive a linearized, dynamic model of a moving bicycle for feedback control analysis. Selecting the bicycle’s steering angle as the control system actuating parameter, centrifugal forces (inertia) are used to manipulate the roll angle and angular velocity to prevent the bike from falling. To implement such a control method, a Schwinn® road bike was equipped with sensors, motors, control boards, and a laptop with data acquisition capabilities. Necessary mounting affixtures were also designed and fabricated for complete onboard operation. The parameters of the dynamic model were identified using data from the system’s response to different inputs. We then use root locus and state space analysis methods to design several control algorithms for regulating the bicycle roll angle. These proposed controls are implemented with our bicycle system and tested to respond to various roll angle disturbances. __________________________________________________________________________________________________________________________
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