Lego NXTbike-GS bicycle with active stability

NXT Bike with a gyro sensor powered by nxtOSEK.

Built by JTM Mutsaerts at Delft University of Technology,
Bicycle Dynamics Lab, http://www.bicycle.tudelft.nl.

In assignment of Jo W. Spronck, Associate professor.

Using the same control environment as in NXTway-GS
and the concept of steer-into-the fall.

Download Matlab / Simulink Files:
http://www.mathworks.com/matlabcentral/fileexchange/27694

Category:

Science & Technology

Tags:

• MATLAB
• Simulink
• LEGO
• NXT
• NXTBike
• Robot
• Bicycle
• Dynamics

[jmutsaerts]

ok, so let me know if you get it to work! My advice:

P control on lean_angle_rate setpoint =0

P control on lean_angle (integrate the rate), setpoint = gamepad input

[jmutsaerts]

Could be done by offsetting the lean angle with gamepad input. I haven´t tried it though. Did you get the bicycle to work?

[bzbzbz7779]

@jmutsaerts

I tried PI control on a low_pass_of(gain1*rate_gyro + gain2*accelerometer), and my bike can only stay stable for 2 sec before the front fork starts vibrating crazily :(. I'm going to remove the I (integral) term and see how a single P works. Thanks a lot jmutsaerts!

[norbu1987]

you they do not share how to build- showing instruction just takes a minute- i bought nxt i can't build any other cool things except those boring humanoid spider- three wheel stupid car?? come on guys make it worth

[genericUser1994]

Very impressive. We have just done a project ourselves based on your work. However we never did manage to get the controller to work reliably enough. We did the coding ourselves as part of a real-time control/embedded systems course (grad level). The main problem that everyone had great trouble with was countering the gyro drift of the lean_angle due to integration. Quantization error and measurement noise gets integrated. After 30 sit has drifted 10+ degrees. What did you do to counter this?

[epokh64]

Hello Joep. That is fantastic.

Can you provide the instructions to build the bike? Is it true it's just the "steer into the undesired fall" ? Unbelievable!

[impet14]

Hello jmutsaerts,

I've done it right now for you advice

so Thanks a lot.

you can see my bike at my channel

[impet14]

I think I quite get the bicycle work.but I didn't use the nxt bike to do my job,I use the real bike and Microcontroller with gyro.well the bike can balance by itself but it can't be controlled the steering.