Two-wheeled single track platform self-balancing control technology using SGCMG
To address the natural instability of the two-wheeled single-rut platform represented by bicycles and motorcycles,the single-frame control moment gyroscope(SGCMG)is employed as the balance control mechanism,and the self-balancing control algorithm of the two-wheeled single-rut platform under different working conditions is studied.The transverse moments of the two-wheeled single-rutted platform are analyzed,the rolling rotation dynamic equation is derived,and the gain scheduling PID controller is designed according to different state errors.The wheel-ground contact point model is built to correct the roll angle of the target during the curve movement,reduce the feedback static difference,and obtain better dynamic response.The steering trend of the fork predicts the steering angle and the roll angle of the target balance at the future moment,adjusts the attitude in advance to offset the centrifugal moment with the gravitational moment,and simulates the predicted bending behavior when people are riding.The relevant algorithm is verified by simulation and tested on vehicles.It maintains a dynamic balance under the stationary and curvilinear motion and delivers excellent performances,proving the effectiveness of the algorithm.
balance controlcontrol moment gyroscopetwo wheels of single-rut platformroll angle predictiongain dispatch PID
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