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

doi:10.3901/JME.2021.02.256

Abstract

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

CLC Number:

TP242

ZHUANG Wei, SU Xiao, ZHAO Yizhou, ZHANG Ruixin. Influence of the Handle Forward Bar Angle of Riderless Bicycle on the 90° Circular Motion[J]. Journal of Mechanical Engineering, 2021, 57(2): 256-264.

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