自行车骑行系统建模与模型预测控制

2015 2nd International Conference on Information Science and Control Engineering Pub Date : 2015-04-24 DOI:10.1109/ICISCE.2015.185

Chih-Keng Chen, T. Chu

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引用次数: 4

摘要

本研究开发了一种自行车骑行系统。采用模型预测控制(MPC)控制系统跟随参考滚转角。控制输入是手柄上的转向扭矩和骑手上半身的倾斜扭矩。通过仿真结果，讨论了控制器的性能、骑车人运动与自行车动力学之间的相互作用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modeling and Model Predictive Control for a Bicycle-Rider System

In this study, a bicycle-rider system was developed. Model predictive control (MPC) is used to control the system follows reference roll-angle. Control inputs are steering torque on the handle bar and the leaning torque of rider's upper body. The performance of the controller, the interaction between rider's motion and the bicycle dynamics are discussed via simulation results.

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2015 2nd International Conference on Information Science and Control Engineering

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