Balancing Assistance of the Bicycle with Control Moment Gyroscopes

Abstract

A bicycle is an inherently unstable system without any control The objective of this thesis is to design and implement a balancing assistance system for the bicycle with control moment gyroscopes This system can improve stability and safety when a rider rides the bicycle Control moment gyroscopes have the advantage of generating large torque with a compact size and it is suitable as a source of balancing assistance moment for the bicycle In this thesis the Euler-Lagrange method is used to derive the dynamic model of the system Simscape is used to simulate the designed control system In the experiments the control laws are implemented through a digital signal processor Optical encoders and an inertial measurement unit are used to provide feedback signals Simulation and experimental studies show that the bicycle with a balancing assistance system has better stability than the bicycle without a balancing assistance system

Date of Award	2020
Original language	English
Supervisor	Ming-Tzu Ho (Supervisor)