Project Proposal Presentation

1. VI DUONG Arsene Foka Nadeem QandeeL BICYCLE AUTOPILOT

2. Advisor: Dr. Glazos Committee : Dr. Petzold Dr. Julstrom

3. Content BACKGROUND PROBLEM STATEMENT PRODUCT DESCRIPTION BENEFITS OF THE PROJECT METHOD Model Derivation Procedure Control System Design Final Testing QUALIFICATIONS OF TEAM MEMBERS BUDGET SCHEDULE REFERENCES

4. BACKGROUND The model used is a fourth-order linearized version of the dynamic model first proposed by Whipple [2 ]. 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.

5. PROBLEM STATEMENT This project is aimed at developing a hands-on learning apparatus for the controls class. This apparatus is an autonomous bicycle capable of traveling along a straight path at a constant speed on a paved level surface with no human intervention.

6. PRODUCT DESCRIPTION Motion of the bike is dependent on: Steer system Steer motor applies a torque to the front fork Potentiometer will be used to measure the angular position of the fork Inclinometer will be used to measure the roll angle (lateral tilt) of the rear frame of the bicycle Drive system Drive motor propels the bicycle, and maintains forward speed at a constant rate Tachometer mounted on the drive motor will be used to measure its speed and thus the forward speed of the bicycle

7. PRODUCT DESCRIPTION ( ContinueD ) Retractable training wheels Manual and Bluetooth remote controlled switch Battery

8. BENEFITS OF THE PROJECT This project primarily benefits the students. As it is supposed to be a learning device, it will provide the students with a system for which they can implement the control theories learned in class. The bicycle will be used to illustrate a variety of control concepts such as modeling, dynamics. Provide common understanding of a simplistic control system in order to better understand much more complex control systems in the future. Show how control systems exhibit quality characteristics such as precision efficiency speed and repeatability. It will provide us with strong technical knowledge, better design skills, higher attention to details and better problem solving skills.

9. METHOD Model Derivation The linear fourth-order model presented by Astrom [1] is used to simulate bicycle dynamics. Procedure Research The system is divided into six parts: Power Battery Power switch Power regulator will maintain a constant DC voltage

10. METHOD (CONTINUED) Sensors Potentiometer Inclinometer Steer Motor Steer-motor servo drive Steer motor Drive Motor Drive-motor servo drive Drive motor with tachometer

11. METHOD (CONTINUED) Wireless Communication Bluetooth Laptop/Android Phone Landing Gears Gear switch Training wheels Gear retractor motor

12. METHOD (CONTINUED) Control System Design Develop Control law using a MATLAB/Simulink simulation of the system. Final Testing Testing will be on a flat, open test area such as an empty parking lot or large gymnasium

13. BLOCK DIAGRAM

14. QUALIFICATIONS OF TEAM MEMBERS The team consists of two Electrical Engineering students, and a Computer Engineering student. Each member of the team has some background in the following; Electronics Digital Systems Embedded Systems Control Systems Basic mechanical knowledge

15. BUDGETs Item Cost (Dollars) Bicycle 110.00 Drive motor 500.00 Steering motor 200.00 Potentiometer 246.00 Inclinometer 161.56 Battery 290.00 Microcontroller 100.00

16. SCHEDULE GANNT CHART 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 Design & Simulation 10/12/2014 21 11/2/2014 Parts Testing 11/6/2014 4 11/10/2014 Driver Motor Control Testing 11/12/2014 3 11/15/2014 Steering Motor Control Testing 11/20/2014 3 11/23/2014 Attitude Controller Building 11/25/2014 10 12/5/2014 Attitude Controller Testing 12/5/2014 2 12/7/2014 Hardware Demo 12/8/2014 4 12/12/2014 Bluetooth Communication 1/10/2015 7 1/17/2015 Landing Gear 1/18/2015 10 1/28/2015 Start on Progress Report 2/6/2015 10 2/16/2015 Assembling 2/18/2015 14 3/4/2015 Evaluation (Final test) 3/6/2015 7 3/13/2015 Improvements 3/15/2015 25 4/9/2015 Final Report 3/14/2015 30 4/14/2015

17. 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 ]