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AUTOMOTO

AUTOMOTO. Motorcycle Controls and Stabilization. Presented by Gregory Berkeley & Levi Lentz. Poster Presentation. Outline. Motivation and Objectives Prototype Design Mechanical Design: Stability Wheels Mathematical Model Control System Diagram. Motivation & Objectives. Motivation

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AUTOMOTO

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  1. AUTOMOTO Motorcycle Controls and Stabilization Presented by Gregory Berkeley & Levi Lentz Poster Presentation

  2. Outline • Motivation and Objectives • Prototype Design • Mechanical Design: Stability Wheels • Mathematical Model • Control System Diagram

  3. Motivation & Objectives • Motivation • Study the behavior of motorcycle dynamics and achieve a method for stability for unmanned vehicles. • Present a sophisticated approach of feedback control theory to further develop an understanding of an autonomous motorcycle. • Objectives • Develop current design to perform at desirable stability criterion. • Add low-speed stability wheels to help prevent rolling instabilities (more later). • Reprogram microcontrollers for better response of control actuators.

  4. Prototype Design • Stepper controlled front wheel provides corrective torque to maintain a stable position. • Inertial sensor measures lean angles and feedback to microcontrollers. • Low center of gravity vehicle provides less resistance to corrective torques. • Actuated stabilizing wheels to help prevent roll disturbances at low speeds.

  5. Mechanical Design: Low Speed Stabilizing Wheels

  6. Mathematical Model

  7. Equations

  8. Critical Velocity • Velocity where you can ride a bike with no hands. • Root Locus at V = 5 m/s

  9. Control System Diagram Feedback Encoder AA 34Y Step Motor Driver AA MBC05641 1700 oz-in Step Motor AA 34Y Steering Microcontroller Arduino Uno Motorcycle Dynamics Inclination Sensor ArduIMU V2 Speed Controller SPD-36500B 700W DC Motor JX My1070 Drive Microcontroller Arduino Uno Feedback Tachometer JX My1070 Ascend/Descend Training Wheels Training Wheels Manufactured Actuating Signal Feedback Signal

  10. Thank You

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