Robot Control Laboratory,

Department of Automation,
Tsinghua University, China

AUTO-BALANCING BICYCLE
An exciting team project, bringing us one step closer to autonomous bicycles!

The first step towards unmanned bicycles is a method for automatic balance and
self-stabilization
Use of Steering Control, an efficient method of high reaction speed
The control system can be described as:
K3
+  
d + K1 + + G(s)
- +  
 d =0 + K2
-

where φ is the roll angle of the rear wheel,φ d is the desired roll angle of the rear
wheel, which is controlled by the remote controller, and δ is the steering angle,
which is calculated as follows:
  K1 (d   )  K 2  K3d
Effective system integration for the conversion of a hybrid electric bicycle to a
remotely-controlled self-balancing bicycle
The Labview program running on cRio-9024 is mainly composed by 6
parts: System Overview
1. Gyroscope module, processing the data of the gyroscope. Laser gate
speedometer
2. Communication module, receiving the data of the remote controller
Intel NUC
from the NUC, and sending all the system data to NUC to record.
Ethernet UART
3. Brake module, determining whether the bicycle is slowing down, and
sending the brake message to the EX-106 motor. Receiver
LiDAR SICK Arduino
Serial
4. LiDAR self-startup module, making the LiDAR startup automatically LMS111
Port NI
Mega 2560 FlySky Remote
Controller
and control the LiDAR to the desired position. 9870

5. Speed module, calculating the velocity message from the remote Serial Port NI 9870
Serial
controller and send the speed message to the throttle motor of the bicycle. Port NI
9870
6. Steering module, calculating the desired steering angle according to the Analog Dynamixel EX-
Output 106 Motor
overall data, and sending the steering message to the Maxon motor. Xsens MTi- NI 9263
300 Gyro

Copley Motor
Data Display Interface Compact
Driver Maxon
RIO 9024 Motor

Experimental Results

Unmanned Track Circling Obstacle Surmounting

Using LabView s easily programmed and user-friendly interface, we can keep

track of our system s parameters at all times and apply the necessary changes.
Rough Terrain Course Campus Road Navigation