dynamics and control of a steer-by-wire bicycle
DESCRIPTION
Dynamics and Control of a Steer-By-Wire Bicycle. Nick Appelman PME - Mechatronic System Design 27-11-2012. Presentation Overview. [1] Steer-by-Wire? On Bicycles? [2] Bicycle Modeling [3] System Modeling and Simulation [4] Steer-by-Wire Implementation - PowerPoint PPT PresentationTRANSCRIPT
![Page 1: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/1.jpg)
1Challenge the future
Dynamics and Control of a Steer-By-Wire BicycleNick AppelmanPME - Mechatronic System Design 27-11-2012
![Page 2: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/2.jpg)
2Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 3: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/3.jpg)
3Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 4: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/4.jpg)
4Challenge the future
[1] Steer-by-Wire? On Bicycles?
![Page 5: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/5.jpg)
5Challenge the future
[1] Steer-by-Wire? On Bicycles?
- By-Wire technology covers terms like Drive-by-Wire, Fly-by-Wire and Steer-by-Wire.
- It describes the replacement of mechanical systems with electronic ones.
![Page 6: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/6.jpg)
6Challenge the future
[1] Steer-by-Wire? On Bicycles?
- By-Wire technology covers terms like Drive-by-Wire, Fly-by-Wire and Steer-by-Wire.
- It describes the replacement of mechanical systems with electronic ones.
![Page 7: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/7.jpg)
7Challenge the future
[1] Steer-by-Wire? On Bicycles?
- By-Wire technology offers advantages in terms of Design Freedom and additional Features.
- Highly unstable vehicles can benefit from additional control (single-track vehicles!).
- Lateral Stability Enhancement for application on bicycles.
![Page 8: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/8.jpg)
8Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 9: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/9.jpg)
9Challenge the future
[2] Bicycle Modeling
![Page 10: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/10.jpg)
10Challenge the future
[2] Bicycle Modeling
- First recognized bicycle model by F. Whipple [1899]1
- Benchmark Bicycle model by J.P. Meijaard et al. [2007]2
1 [Whipple, F.J.W.; The stability of the motion of a bicycle, 1899]2 [Meijaard, J.P. and Papadopoulos, J.M. and Ruina, A. and Schwab, A.L.; Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review, 2007]
![Page 11: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/11.jpg)
11Challenge the future
[2] Bicycle Modeling
- Benchmark Bicycle model:
![Page 12: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/12.jpg)
12Challenge the future
[2] Bicycle Modeling
- Benchmark Bicycle model:
![Page 13: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/13.jpg)
13Challenge the future
[2] Bicycle Modeling
- Steer-by-Wire Bicycle model:
- Additional handlebar body (H)
![Page 14: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/14.jpg)
14Challenge the future
[2] Bicycle Modeling
- Steer-by-Wire Bicycle model:
- Handlebar- and steering assembly coupling by PD-control
![Page 15: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/15.jpg)
15Challenge the future
[2] Bicycle Modeling
- Steer-by-Wire Bicycle model:
- Handlebar- and steering assembly coupling by PD-control
![Page 16: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/16.jpg)
16Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 17: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/17.jpg)
17Challenge the future
[3] System Modeling and Simulation
![Page 18: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/18.jpg)
18Challenge the future
[3] System Modeling and Simulation
- The Steer-by-Wire Bicycle model is used to implement additional control strategies:
1) Identity Transformation
2) Low Speed Stabilization Control
![Page 19: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/19.jpg)
19Challenge the future
[3] System Modeling and Simulation
- Identity Transformation (pole placement technique)
![Page 20: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/20.jpg)
20Challenge the future
[3] System Modeling and Simulation
- Identity Transformation (pole placement technique)
![Page 21: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/21.jpg)
21Challenge the future
[3] System Modeling and Simulation
- Identity Transformation (pole placement technique)
![Page 22: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/22.jpg)
22Challenge the future
[3] System Modeling and Simulation
- Low Speed Stabilization Control (Intuitive Control) 1
1 [Schwab, A.L. and Kooijman, J.D.G. and Meijaard, J.P.; Some recent developments in bicycle dynamics and control, 2008]
![Page 23: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/23.jpg)
23Challenge the future
[3] System Modeling and Simulation
- Low Speed Stabilization Control (Intuitive Control) 1
1 [Schwab, A.L. and Kooijman, J.D.G. and Meijaard, J.P.; Some recent developments in bicycle dynamics and control, 2008]
![Page 24: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/24.jpg)
24Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 25: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/25.jpg)
25Challenge the future
[4] Steer-by-Wire Implementation
![Page 26: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/26.jpg)
26Challenge the future
[4] Steer-by-Wire Implementation
- Design approach:
![Page 27: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/27.jpg)
27Challenge the future
[4] Steer-by-Wire Implementation
- Development software selection
![Page 28: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/28.jpg)
28Challenge the future
[4] Steer-by-Wire Implementation
- Development software selection
![Page 29: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/29.jpg)
29Challenge the future
[4] Steer-by-Wire Implementation
- Controller hardware selection
![Page 30: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/30.jpg)
30Challenge the future
[4] Steer-by-Wire Implementation
- Controller hardware selection
![Page 31: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/31.jpg)
31Challenge the future
[4] Steer-by-Wire Implementation
- Controller hardware IO-board
![Page 32: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/32.jpg)
32Challenge the future
[4] Steer-by-Wire Implementation
- Controller hardware IO-board
![Page 33: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/33.jpg)
33Challenge the future
[4] Steer-by-Wire Implementation
- Position- and angular rate sensors
![Page 34: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/34.jpg)
34Challenge the future
[4] Steer-by-Wire Implementation
- Position- and angular rate sensors
![Page 35: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/35.jpg)
35Challenge the future
[4] Steer-by-Wire Implementation
- Roll angle- and roll rate sensor
![Page 36: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/36.jpg)
36Challenge the future
[4] Steer-by-Wire Implementation
- Roll angle- and roll rate sensor
- Roll angle estimation by combining sensor data
![Page 37: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/37.jpg)
37Challenge the future
[4] Steer-by-Wire Implementation
- Forward speed sensor
- Conventional DC-motor used in reverse.
![Page 38: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/38.jpg)
38Challenge the future
[4] Steer-by-Wire Implementation
- Actuator selection
1) Power- and torque requirements
2) Physical limitations (mass, size etc)
![Page 39: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/39.jpg)
39Challenge the future
[4] Steer-by-Wire Implementation
- Actuator selection
1) Power- and torque requirements
2) Physical limitations (mass, size etc.)
![Page 40: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/40.jpg)
40Challenge the future
[4] Steer-by-Wire Implementation
- Final design by combining controller, sensors and actuators
![Page 41: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/41.jpg)
41Challenge the future
[4] Steer-by-Wire Implementation
![Page 42: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/42.jpg)
42Challenge the future
[4] Steer-by-Wire Implementation
![Page 43: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/43.jpg)
43Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 44: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/44.jpg)
44Challenge the future
[5] Experimental Tests
![Page 45: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/45.jpg)
45Challenge the future
[5] Experimental Tests
- Path following experiment utilizing the Low Speed Stabilization control algorithm:
![Page 46: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/46.jpg)
46Challenge the future
[5] Experimental Tests
- Path following experiment utilizing the Low Speed Stabilization control algorithm:
- Testruns at 4 different forward speeds v = [5,10,15,20] km/h.
4 different controller gains Ks = [-5,0,5,10] Ns^2/rad.
![Page 47: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/47.jpg)
47Challenge the future
[5] Experimental Tests
- Path following experiment utilizing the Low Speed Stabilization control algorithm:
- Testruns at 4 different forward speeds v = [5,10,15,20] km/h.
4 different controller gains Ks = [-5,0,5,10] Ns^2/rad.
- Video
![Page 48: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/48.jpg)
48Challenge the future
[5] Experimental Tests
- Eigenvalue plots SBW-bicycle
- Ks = -5 Ns^2/rad (a)
Ks = 0 Ns^2/rad (b)
Ks = 5 Ns^2/rad (c)
Ks = 10 Ns^2/rad (d)
![Page 49: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/49.jpg)
49Challenge the future
[5] Experimental Tests
- PSD (power spectral density) plots of the handlebar rate at 5 km/h:
![Page 50: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/50.jpg)
50Challenge the future
[5] Experimental Tests
- PSD (power spectral density) plots of the handlebar rate at 20 km/h:
![Page 51: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/51.jpg)
51Challenge the future
[5] Experimental Tests
- Up to now only vehicle dynamics enhancement is discussed.
- What about rider perception? Steer torque feedback!
![Page 52: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/52.jpg)
52Challenge the future
[5] Experimental Tests
- PSD (power spectral density) plot of the handlebar rate at 5 km/h without steer torque feedback:
![Page 53: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/53.jpg)
53Challenge the future
[5] Experimental Tests
- PSD (power spectral density) plot of the handlebar rate at 20 km/h without steer torque feedback:
![Page 54: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/54.jpg)
54Challenge the future
Presentation Overview
[1] Steer-by-Wire? On Bicycles?
[2] Bicycle Modeling
[3] System Modeling and Simulation
[4] Steer-by-Wire Implementation
[5] Experimental Tests
[6] Conclusions and Recommendations
![Page 55: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/55.jpg)
55Challenge the future
[6] Conclusions and Recommendations
![Page 56: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/56.jpg)
56Challenge the future
[6] Conclusions and Recommendations
- Conclusions:
1) At 5 km/h a two times reduction in rider steer effort is observed by applying the lateral
stability algorithm.
The Lateral Stability Enhancement algorithm shows a reduction in rider steer effort, where the
stabilized bicycle is as easy to control at 5 km/h as an uncontrolled bicycle at 20 km/h.
![Page 57: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/57.jpg)
57Challenge the future
[6] Conclusions and Recommendations
- Conclusions:
1) At 5 km/h a two times reduction in rider steer effort is observed by applying the lateral
stability algorithm.
The Lateral Stability Enhancement algorithm shows a reduction in rider steer effort, where the
stabilized bicycle is as easy to control at 5 km/h as an uncontrolled bicycle at 20 km/h.
2) The experiments show the importance of steer torque feedback, as the steer effort is about
three times higher at 5 km/h, if the steer torque feedback is disabled.
At higher forward speeds, the importance of the steer torque feedback contribution reduces. At
higher forward speeds, visual- and vestibular cues apparently become more important.
![Page 58: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/58.jpg)
58Challenge the future
[6] Conclusions and Recommendations
- Recommendations:
1) A more accurate roll-angle sensor setup should be developed in order to be able to evaluate
the proposed pole-placement techniques.
2) Future research should focus on the importance of rider perception and the effect of
different levels of steer torque feedback. Especially in relation to visual- and vestibular cues.
![Page 59: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/59.jpg)
59Challenge the future
Questions?
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60Challenge the future
Secret hidden slide
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61Challenge the future
Secret hidden slide
![Page 62: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/62.jpg)
62Challenge the future
Steer stiffness
![Page 63: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/63.jpg)
63Challenge the future
Firmware
![Page 64: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/64.jpg)
64Challenge the future
Steer stiffness ratio SBW-prototype
![Page 65: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/65.jpg)
65Challenge the future
Rider effort index Ph
![Page 66: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/66.jpg)
66Challenge the future
Lane change test
![Page 67: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/67.jpg)
67Challenge the future
Num.diff
![Page 68: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/68.jpg)
68Challenge the future
Lane change test
![Page 69: Dynamics and Control of a Steer-By-Wire Bicycle](https://reader036.vdocument.in/reader036/viewer/2022062520/5681588d550346895dc5ece1/html5/thumbnails/69.jpg)
69Challenge the future
Questions?