Instrumentación de una bicicleta sin conductor para pruebas experimentales de control automático (Instrumentation of a bicycle without driver for experimental testing of automatic control)

Jorge Aurelio Brizuela Mendoza (jabriz.cenidet@gmail.com)1, Carlos Manuel Astorga Zaragoza (astorga@cenidet.edu.mx)2, Arturo Zavala Río (azavala@ipicyt.edu.mx)3, Francisco Canales Abarca (francisco.canales@ch.abb.com)4


1Centro Universitario de los Valles, Universidad de Guadalajara
2Tecnológico Nacional de México Centro Nacional de Investigación y Desarrollo Tecnológico
3Instituto Potosino de Investigación Científica y Tecnológica
4ABB Corporate Research

This paper appears in: Revista IEEE América Latina

Publication Date: Aug. 2016
Volume: 14,   Issue: 8 
ISSN: 1548-0992


Abstract:
In this paper, the instrumentation of a riderless bicycle prototype for control purposes is addressed. The proposed instrumentation is based on the mathematical model of a bicycle, in which the dynamical variables correspond to the translational velocity, the angular position of the handlebar and the velocity of the roll angle of its general framework. Throughout the paper, a convenient and simple way to measure these variables is detailed explained, in order to provide an instrumented prototype ready to be used for testing automatic control laws. This corresponds to the main contribution of the present paper. The dynamical model from which the proposed instrumentation has been designed, corresponds to a Linear Parameter Varying system, considering the translational velocity as time-varying parameter. The results of the instrumentation and its effectiveness are shown from experimental tests.

Index Terms:
Translational velocity, velocity of the roll angle, handlebar position, riderless bicycle.   


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