Design and Implementation of a Bicycle Model A Control Scheme Based on Inertial Wheel for Upright Balance

The self-balance of a bicycle system with an inertial wheel has been conducted in theoretical research by many investigators, mainly through methods such as establishing models, calculating rotational inertia, and commissioning PID. However, in this report, a physical bicycle model will be designed and implemented with a control scheme based on an inertial wheel for upright balance. First, the overall system scheme and principles will be described, and several requirements will be introduced. The following section introduces the system design, including hardware and mechanical designs. Then, the system will be commissioned, including PID commission of upright balance, rear wheel, and steering angle. Finally, the problems in the scheme will be discussed and summarized. The final results show that the model of a self-balance bicycle controlled by an inertia wheel is physically feasible.