Analysis and Control of the Unmanned Bicycle with Crank Slider Mechanism

The uniform linear balance motion control of the unmanned bicycle with crank-slider mechanism is studied in this paper. Firstly, the crank-slider mechanism is added to the front fork system of a daily bicycle to obtain the model of the unmanned bicycle. Secondly, the front handlebar angle is controlled by adjusting the position of the crank slider, so that the unmanned bicycle quickly converges to the desired body inclination angle. Thirdly, the Linear Quadratic Regulator (LQR) is used to control the unmanned bicycle. Finally, based on theoretical analysis, the actual data collected on the laboratory prototype is substituted into the system model, computer simulations are carried out to verify the effectiveness of the presented algorithm. The simulation results show that compared with ordinary bicycles, the unmanned bicycle with crank-slider mechanism can greatly reduce the time required for the system to reach equilibrium. The results of this study reinforce the possibility of improving the adjustment efficiency of unmanned bicycles.