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力学与实践 ›› 2020, Vol. 42 ›› Issue (1): 116-118.doi: 10.6052/1000-0879-19-027

• 身边力学的趣话 • 上一篇    下一篇

再谈无人自行车的自稳定性

刘延柱1)   

  1. 上海交通大学工程力学系,上海 200240
  • 收稿日期:2019-01-16 发布日期:2020-03-13
  • 通讯作者: 1)E-mail: liuyzhc@163.com

REVISIT OF SELF-STABILIZATION OF UNMANNED BICYCLE

LIU Yanzhu1)   

  1. Department of Engineering Mechanics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2019-01-16 Published:2020-03-13

摘要: 本文讨论无人自行车稳定行驶的实现可能性,对前叉受控的自行车数学模型做稳定性分析。分析表明,要保证自行车直立行驶的渐近稳定性,控制系统必须考虑前叉转轴的阻尼因素,且控制规律必须计入车体侧向倾斜的角速度信息。

关键词: 无人自行车, 渐近稳定性, Hurwitz判据

Abstract: The realization of an unmanned self-stabilizing bicycle is discussed. A stability analysis is made for a mathematical model of a bicycle controlled by the rotation of the front set. It is shown that the self- running bicycle can be asymptotically stabilized only when the damping factor in the rotation axis of the front set is considered, and the input signals of the control system should contain the angular velocity of the side-leaning of the bicycle.

Key words: unmanned bicycle, asymptotic stability, Hurwitz's criterion

中图分类号: 

  • O313