A method for trajectory tracking control of an unmanned bicycle

A trajectory tracking and control method technology, which is applied in vehicle position/route/height control, non-electric variable control, position/direction control, etc., can solve the influence of bicycle trajectory, cannot obtain tracking effect, cannot obtain the best effect, etc. problem, the effect of achieving good results

A trajectory tracking and control method technology, which is applied in vehicle position/route/height control, non-electric variable control, position/direction control, etc., can solve the influence of bicycle trajectory, cannot obtain tracking effect, cannot obtain the best effect, etc. problem, the effect of achieving good results

CN105320129BActive Publication Date: 2018-05-29TSINGHUA UNIV
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  • A method for trajectory tracking control of an unmanned bicycle
  • A method for trajectory tracking control of an unmanned bicycle
  • A method for trajectory tracking control of an unmanned bicycle

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Embodiment Construction

[0069] A trajectory tracking control method for an unmanned bicycle proposed by the present invention will be described in detail below in conjunction with the accompanying drawings.

[0070] The invention implements the trajectory tracking control of the bicycle through a model predictive control algorithm. First, for the bicycle, establish its balance dynamics model, and establish the system state equation after adding the self-balancing controller; secondly, establish the kinematics model of the bicycle, and perform linearization; then combine the kinematics model with the self-balancing control system Combined with the corresponding simplified processing, a seven-dimensional state prediction model is established; finally, the linear quadratic index function is selected, its weight matrix parameters are set, and the optimal control input at each sampling time is solved online. Figure 8 It is a flow chart of the trajectory tracking control method of the unmanned bicycle of ...

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Abstract

The invention belongs to the technical field of movement controlling of unmanned vehicles, and especially relates to a method for tracking and controlling a locus of an unmanned bicycle. The method comprises the steps of: firstly, establishing a balance dynamic model of the bicycle, and establishing discrete state equations of a bicycle self-balance control system into which a self-balance controller is added; secondly, establishing a discrete kinetic model of the bicycle, and carrying out linearization; then combining the kinetic model with the self-balance control system, carrying out corresponding simplification processing, and establishing a seven-dimension state predicting model of the bicycle; and finally, using the seven-dimension state predicting model as a prediction model of a bicycle locus tracking algorithm, carrying out locus tracking and controlling on the bicycle, and solving optimal control input of each sampling moment on line. The bicycle locus tracking and controlling method based on the seven-dimension state predicting model is capable of accurately predicting the state of the bicycle in the future time, the calculation amount is small, and a good control effect is ensured by the on-line real-time performance.

Description

technical field [0001] The invention belongs to the technical field of motion control of unmanned bicycles, and in particular relates to a method for track tracking control of unmanned bicycles. Background technique [0002] Compared with cars, unmanned bicycles have the advantages of low price, light and portable, flexible mobility, environmental protection and energy saving. However, compared to the four-wheel structure of a car, the two-wheel structure of a bicycle is unstable, and the bicycle cannot maintain balance without human control. Therefore, for a bicycle, in order to realize the function of unmanned driving, it must first be able to control its own balance. It can be seen that the realization of unmanned bicycles is much more difficult than that of unmanned cars. [0003] On the basis of realizing the self-balancing control of the bicycle, it is necessary to carry out motion control on it, cooperate with the functions of upper-level machine vision and trajecto...

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Application Information

Patent Timeline
29 May 2018
Publication
CN105320129B
IPC
G05D1/00
Inventors
赵明国; 余永超