Design and research of self-balancing bicycle control system

Aiming at the problem of bicycle self-balancing control, a bicycle self-balancing control system based on momentum wheel is designed and adopted. Firstly, the research status of bicycle self-balancing control system is briefly introduced. Then, the mechanical model of the bicycle system based on inertia wheel is established by Lagrange method, and the cascade PID(Proportional-Integral-Derivative) controller is designed for self-balancing control. The mechanical model and cascade PID controller were simulated by Simulink. The simulation results show that the model is reliable and the cascade PID controller can realize the requirements of bicycle self-balancing control.