Abstract This research focuses on the development of an electric bicycle robot which balances itself while moving at a constant forward speed. The bicycle robot is balanced by applying a pendulum mass moving together with heading steering to share the balancing load. The nonlinear dynamics model of a bicycle along with a pendulum is derived from the Euler-Lagrange equation of motion and nonholonomic constraints with respect to translation and rotation relative to the ground plane. This nonlinear model is then linearized around the upright position and combined with the DC motor model to obtain the completed linearized dynamics model. The robot's prototype is designed and built. The linear quadratic regulator (LQR) is implemented on the system to control its balance. The simulation results show that, by varying the control weighting matrix to increase the use of the pendulum's input, the system obtains better performance in both balancing and straight-line path tracking. In addition, the state weighting matrix can be varied to further improve the path tracking performance while still keeping the stability. Real experimental results are also in line with the simulation results.

中文翻译：

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基于转向摆平衡的自行车机器人的研制与控制

摘要 本研究的重点是电动自行车机器人的开发，该机器人在以恒定的前进速度移动的同时保持自身平衡。自行车机器人通过应用与航向转向一起移动的摆质量来分担平衡负载来平衡。自行车和钟摆的非线性动力学模型源自欧拉-拉格朗日运动方程和相对于地平面的平移和旋转的非完整约束。然后将此非线性模型绕直立位置线性化，并与直流电机模型结合以获得完整的线性化动力学模型。机器人的原型被设计和建造。在系统上实施线性二次调节器 (LQR) 以控制其平衡。仿真结果表明，通过改变控制权重矩阵来增加钟摆输入的使用，系统在平衡和直线路径跟踪方面都获得了更好的性能。此外，可以改变状态权重矩阵以进一步提高路径跟踪性能，同时仍保持稳定性。真实的实验结果也与仿真结果相符。