• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (2): 256-264.doi: 10.3901/JME.2021.02.256

• 交叉与前沿 • 上一篇    

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车把前倾角对无人驾驶自行车90°圆周运动的影响

庄未, 苏晓, 赵逸舟, 张瑞欣   

  1. 桂林电子科技大学机电工程学院 桂林 541004
  • 收稿日期:2020-02-12 修回日期:2020-08-06 出版日期:2021-01-20 发布日期:2021-03-15
  • 通讯作者: 苏晓(通信作者),男,1994年出生。主要研究方向为机器人动力学及运动控制技术。E-mail:suxiao608@126.com
  • 作者简介:庄未,女,1977年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人动力学及运动控制技术。E-mail:zhuangweibupt@sohu.com
  • 基金资助:
    国家自然科学基金(51765011,51865005)和广西自然科学基金(2018JJA160115,2018JJA160116)资助项目。

Influence of the Handle Forward Bar Angle of Riderless Bicycle on the 90° Circular Motion

ZHUANG Wei, SU Xiao, ZHAO Yizhou, ZHANG Ruixin   

  1. School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004
  • Received:2020-02-12 Revised:2020-08-06 Online:2021-01-20 Published:2021-03-15

摘要: 系统的机械结构参数对其性能具有重要的影响。针对一种无机械平衡调节器的无人驾驶自行车,研究不同的车把前倾角对其90°圆周平衡运动的影响问题。给出基于査普雷金(Chaplygin)方程的系统欠驱动力学模型,结合部分反馈线性化的控制方法设计圆周90°运动的平衡控制器,分别设定车把前倾角的角度为0°、8°、16°、24°,对自行车90°圆周运动进行数值仿真和物理样机试验。结果表明,在一定范围内增大车把前倾角,有利于减小无人驾驶自行车的横滚角、横滚角速度及前轮驱动力矩,但会使其前车轮转速增大。研究结果可为无人驾驶自行车的结构优化提供理论参考。

关键词: 无人驾驶自行车, 车把前倾角, 动力学建模, 90°圆周运动

Abstract: The mechanical structure parameters of the system have an important influence on its performance. The influence of different handlebar rake angle on the 90°circle balance motion of an unmanned bicycle without mechanical balance regulator is studied. An underactuated mechanical model based on Chaplygin equation is presented. Combined with the control method of partial feedback linearization,the balance controller of circular 90°motion is designed. The angle of the handlebar forward angle is set to 0°,8°,16°,and 24°,respectively. The numerical simulation and physical prototype test of the 90°circular motion of the bicycle are carried out. The results show that the roll angle,roll angle speed and front wheel driving torque of the driverless bicycle can be reduced by increasing the handlebar rake angle within a certain range,but the front wheel speed will be increased. The research results can provide a theoretical reference for the structure optimization of unmanned bicycle.

Key words: unmanned bicycle, handle forward bar angle, dynamic modeling, 90° circular motion

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