VI DUONG

ARSENE FOKA

NADEEM QANDEEL

BICYCLE AUTOPILOT

Advisor:Dr. Glazos

Committee:Dr. Petzold

Dr. Julstrom

CONTENTS

o BACKGROUNDo PROBLEM STATEMENTo SYSTEM REQUIREMENTSo SYSTEM LEVEL DESIGNo ACCOMPLISHMENTSo TIMELINEo BUDGETo REFERENCES

BACKGROUND

• The bicycle is to serve as a learning tool for students in the controls class.

• The bicycle helps students understand dynamic systems and their control.

• Some universities have successfully used similar bicycles for their controls class.

PROBLEM STATEMENT

This apparatus is an autonomous bicycle capable of traveling along a straight path at a constant speed on a level surface with no human intervention.

SYSTEM REQUIREMENTSThe bicycle should meet the following requirements:

• Operate at a constant speed

• Run on a flat surface without extreme weather condition

• Operated Wirelessly

• Graphical user interface

• Collect real time data

• Come to rest at stand still position with no assistance

SYSTEM LEVEL DESIGN

SYSTEM LEVEL DESIGN (CONTINUED) • Bicycle

• Standard mountain bicycle

• Battery• 24V battery

• Maximum discharge current ≥ 8A

• Maximum continuous current ≥ 4A

• Motors• The steering motor is MMP TM40-285H-24V GP42-051 gear motor. Provides 18 in-lbs rated continuous torque, runs at

24V with rated continuous current 0.47A.

• The drive motor MMP D22-376D-24V GRA40-008 provides 12 in-lbs (0.9N-m), runs at 24V, with output speed of 575 rpm.

SYSTEM LEVEL DESIGN (CONTINUED)• Sensors

• Potentiometer

• GL300

• Resolution of 0.10

• Inclinometer

• SCA121T-D07

• Dual axis sensor

• Operates on 15Vdc with an offset of 2.5V

• Microcontroller• Arduino Yun which has an ATMEGA32U4 and Atheros AR9331 processors

• Safety Devices• Retractable training wheels

• Remote emergency switch

ACCOMPLISHMENTS

• Control System Design• Power System Design• User Interface Design

STATE SPACE MODEL

CONTROL SYSTEM DESIGNwhere A(t) is called the state matrix,

B(t) the input matrix, C(t) the output matrix, and D(t) the direct transmission matrix.

A linear fourth-order model first derived by Whipple[2]

Uncontrolled system obtained from Matlab Uncontrolled system root-locus result obtained from Astrom article

LQR control block diagram.

QUADRATIC OPTIMAL REGULATOR SYSTEM

�̇�=𝐴𝑥+𝐵𝑢determines the matrix K of the optimal control vector

u(t)

SIMULINK MODEL

Roll angle with disturbance Roll rate with disturbance

System response with external disturbances (wind, pushing,etc…)

Steer angle with disturbance Steer rate with disturbance

POWER SYSTEM DESIGNThe data in the table is collected mostly from datasheets and derived from Ohm’s Law and P=V*I.

Parts Voltage (V) Current (A) Resistance (Ohm) Power (W)

Potentiometer 15 1.5m 10K 22.5m

Inclinometer 15 5m – 8m N/A 75m – 120m

DAC 15 10m N/A 150m

Microcontroller 5 240m for 6 pins N/A 1.2

Steer motor 24 0.47 N/A 11.28

Drive motor 24 4-8 N/A 96-192

POWER MANAGEMENT• Total power consumed by the system is approximately 156.7725Watts.

• Total current consumed by the system is 6.77A.

• Rule of thumb here is power supplied>=power consumed to prevent devices from shutting down.

• Choice is a 24V battery with a 10Ah capacity rate.

• For a full hour of operation it is expected to have 10A continuous supply and 240 Watts.

• With this battery rate we expect the bicycle to run without recharging it, for approx. hour and a half.

Diagram of devices connected to their appropriate voltages current distribution.

SIMULATION OF TWO VOLTAGE REGULATORS USED

Battery voltage variation

Adruino voltage close up

Voltage of DAC, Potentiometer, Inclinometer

Currents through Potentiometer, DAC, Inclinometer

Current through microcontroller

USER INTERFACE DESIGN

• User device • Android tablet (Samsung Tab4)

• Two Android applications are developed for the project

• The Professor Application (ProfApp)

• The Student Application (StudentApp)

• Application built using the Eclipse Android Development Tool (Eclipse ADT)

USER INTERFACE DESIGN

• WIFI Communication• Yun is configured to use on-campus WIFI Network (scsugadgets)

• Access to Yun is protected by a password created by the user during configuration.

• For any device to communicate with the Yun:

• The device and the Yun must be connected and within the range of the WIFI to which the Yun is configured

• The device must have the password to the Yun’s WIFI

• Scsugadgets vs HuskynetSecured

• WPA/WPA2 vs PEAP Authentications and Yun

TIMELINEOriginal

Task Start Date End Date

Research 8/25/2014 9/8/2014Proposal 9/9/2014 10/6/2014Shopping 10/7/2014 11/4/2014

Design & Simulation 10/12/2014 11/2/2014

Parts Testing 11/6/2014 11/10/2014

Driver Motor Control Testing 11/12/2014 11/15/2014

Steering Motor Control Testing 11/20/2014 11/23/2014

Attitude Controller Building 11/25/2014 12/5/2014

Attitude Controller Testing 12/5/2014 12/7/2014Hardware Demo 12/8/2014 12/12/2014Bluetooth Communication 1/10/2015 1/17/2015Landing Gear 1/18/2015 2/9/2015Start on Progress Report 2/6/2015 2/16/2015Assembling 2/18/2015 3/4/2015Evaluation (Final test) 3/6/2015 3/13/2015Improvements 3/15/2015 4/9/2015Final Report 3/14/2015 4/14/2015

Task Start Date Duration (Days) End Date

Research 8/25/2014 14 9/8/2014

Proposal 9/9/2014 27 10/6/2014

Shopping 10/7/2014 28 11/4/2014

Parts Testing 11/26/2014 40 1/4/2015

Build Bicycle (Assembling) 1/12/2015 21 2/2/2015

Test Bicycle 2/6/2015 30 3/9/2015

Take Data 3/10/2015 10 3/20/2015

Analyze Data 3/18/2015 10 3/28/2015

Improvements 3/30/2015 25 4/24/2015

Final Report 3/29/2015 31 5/1/2015

Revised

GANNT CHART

Research

Proposal

Shopping

Parts Testing

Build Bicycle (Assembling)

Test Bicycle

Collect Data

Analyze Data

Improvements

Final Report

8/25/2014 10/14/2014 12/3/2014 1/22/2015 3/13/2015 5/2/2015 6/21/2015

BUDGETItem Cost (Dollars)

Bicycle 110.00

Drive motor 600.00

Steering motor 200.00

Potentiometer 246.00

Inclinometer 161.56

Battery 290.00

Microcontroller 100.00

REFERENCES• [1] Astrom, K.J.; Klein, Richard E.; Lennartsson, A, "Bicycle dynamics and control: adapted bicycles for education and

research," Control Systems, IEEE, vol.25, no.4, pp.26, 47, Aug. 2005

• [2] F. J. W. Whipple. The stability of the motion of a bicycle. Quart. J. Pure Appl. Math. 30:312–348, 1899.

• [3] F. Klein and A. Sommerfeld. Über die Theorie des Kreisels. Teubner, Leipzig, 1910. Ch IX §8, Stabilität des Fahrrads, by F. Noether, pp. 863–884. (pdf+English translation).

• [4] J. P. Meijaard, Jim M. Papadopoulos, Andy Ruina, A. L. Schwab, 2007 ``Linearized dynamics equations for the balance and steer of a bicycle: a benchmark and review,'' Proceedings of the Royal Society A 463:1955-1982. doi:10.1098/rspa.2007.1857, or preprint+ESM pdf(578k).

• [5] D. E. H. Jones. The stability of the bicycle. Physics Today, 23(4):34–40, 1970. DOI:10.10631/1.3022064 (2006 DOI:10.1063/1.2364246)

• [6] “Bicycle Dynamics.” (2010, March 1). Retrieved July 9, 2014, from http://bicycle.tudelft.nl/schwab/Bicycle/index.htm

• [7] J. D. G. Kooijman, J. P. Meijaard, Jim M. Papadopoulos, Andy Ruina, and A. L. Schwab, "A bicycle can be self-stable without gyroscopic or caster effects", Science 15 April 2011: 332(6027), 339-342. [DOI:10.1126/science.1201959]