Steering Control For Bicycle

Nurul Huda, Jamil (2009) Steering Control For Bicycle. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Bicycle is a clean transportation device towards the environment. However, the bicycle is unstable itself and it will fall down if driven without human assistance using the steering handle or moving upper body. Getting a bicycle to balance by itself without a human riding it is difficult. The physical dynamics of bicycles have been studied by scientists, mathematicians and engineers alike for years. Dynamic model of running bicycle is complicated and it's hard to recognize completely. However, assuming that rider position is fixed, no moments of inertia, the linear equations are valid only for small angles of lean and steer, fixed external forces are limited to gravitational forces and constraint forces from the ground acting on the wheels, and the bike-rider system is symmetrical about a plane passing lengthwise through the rear frame can produce a simple mathematical model of a bicycle. This model will then be used to develop a single input, single output controller. Although the rider controls various inputs, this project briefly examines the possibility only the front wheel steering input to be used to control the bicycle roll angle. This project objective is to implement a simple mathematical model of a bicycle and to measure its output response. In this project, I have assessed the ability of the controller to maintain bicycle stability at constant speeds with various impulse disturbances applied. For SISO system, a suitable controller to use is PID. It is one of the linear controllers that are designed to force the system output states to follow the desired inputs based on error signals.

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