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Sensors 2019, 19(2), 248; https://doi.org/10.3390/s19020248

Modeling and Control of an Active Stabilizing Assistant System for a Bicycle

1
Department of Vehicle Engineering, National Taipei University of Technology, Taipei 10608, Taiwan
2
Department of Mechanical and Automation Engineering, Da-Yeh University, Changhwa 51505, Taiwan
*
Author to whom correspondence should be addressed.
Received: 6 December 2018 / Revised: 1 January 2019 / Accepted: 4 January 2019 / Published: 10 January 2019
(This article belongs to the Special Issue Advance in Sensors and Sensing Systems for Driving and Transport)
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Abstract

This study designs and controls an active stabilizing assistant system (ASAS) for a bicycle. Using the gyroscopic effect of two spinning flywheels, the ASAS generates torques that assist the rider to stabilize the bicycle in various riding modes. Riding performance and the rider’s safety are improved. To simulate the system dynamic behavior, a model of a bicycle–rider system with the ASAS on the rear seat is developed. This model has 14 degrees of freedom and is derived using Lagrange equations. In order to evaluate the efficacy of the ASAS in interacting with the rider’s control actions, simulations of the bicycle–rider system with the ASAS are conducted. The results for the same rider for the bicycle with an ASAS and on a traditional bicycle are compared for various riding conditions. In three cases of simulation for different riding conditions, the bicycle with the proposed ASAS handles better, with fewer control actions being required than for a traditional bicycle. View Full-Text
Keywords: bicycle; gyroscopic effect; balancing assistance; model predictive control bicycle; gyroscopic effect; balancing assistance; model predictive control
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Chen, C.-K.; Chu, T.-D.; Zhang, X.-D. Modeling and Control of an Active Stabilizing Assistant System for a Bicycle. Sensors 2019, 19, 248.

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