摘要
自行车是一个不稳定的系统,对其进行稳定控制较为困难。为研究自行车复杂的动力学特性,本文首先运用CATIA软件建立自行车模型,导入ADAMS软件进行直线行驶仿真。并使用ADAMS中的控制模块进行了自行车前叉转角的PID控制仿真,使自行车作稳态转向。之后先后从倒立摆模型和前叉转向的角度对自行车进行了动力学建模,将结果与仿真结果进行对比。对自行车能够平衡的原因作出了分析,验证了自行车稳态转向模型的合理性。
A bicycle is an unstable system and it is diff icult to control its stability.In order to study the complex dynamics characteristics of bicycles,this paper f irstly uses CATIA to build a bicycle model and introduces it into ADAMS s oftware,which can s imulate the s ituation when a bicycle is running in a s traight-line.Using the control module in ADAMS,we make the PID control of the rotation of the front fork in order to make the bicycle steady in the corner.Then we build dynamical model theoretically using inverted pendulum and the rotation of the fork.And we compare the results with the simulation results.Analysis method and results explains the reason for the balance of the bicycle and verify the rationality of the steady state steering model.
出处
《科技创新导报》
2018年第10期143-146,186,共5页
Science and Technology Innovation Herald
