Location:Training / Hot Applications / Automotive / [Virtual Instrument Competition] Self-balancing bicycle / [Virtual Instrument Competition] Self-balancing bicycle

 Tsinghua University’s self-balancing bicycle, the 2015 National Virtual Instrument Grand Prize winner. Based on the NI My-RIO platform, the specific components are: NI cRIO-9024 controller, FlySky remote control receiver, MTi-300 gyroscope, Maxon DC motor, Sick lidar, and laser beamer.
Innovation point: Establish a nonlinear model of the bicycle, and design a feedback combined with feedforward steering balance controller based on the linearized model, successfully achieving self-balancing control of the bicycle at a constant speed. The control parameters change adaptively with the forward speed of the vehicle, enabling balance control during speed changes. In the control box of the steering balance controller, the unmanned bicycle can realize complex movements such as "8" circles, playground circles and grass cross-country, with strong stability and flexibility.