关键词: 自行车机器人, 前轮驱动, 定车运动, 动力学建模, 稳定平衡控制

Abstract:

Considering pure rolling condition and track stand motion’s characteristics of front bar being vertical to frame，nonholonomic constraints between front wheel’s driving angle velocity and frame’s yaw angle rotational rate are derived，from which dynamic model is built by Lagrange formulation．With partial feedback linearization method，a track stand motion controller is designed，in which the under actuated frame rolling angle is linearized and the whole dynamics are taken as output．Simulation of the controller indicates that，under proper parameters，the track stand motion within ±10° rolling angle can be achieved quickly with a small driving torque．Experiment also validates that，with the proposed controller，the frontwheel drive bicycle robot can realized a small rolling angle range of track stand motion only by front wheel driving torque input．

Key words: bicycle robot, front wheel drive, track stand motion, dynamic modeling, balanced control