Bicycle Wheel System Identification and Optimal Truing Control for Mechatronic Systems

摘要

This work utilizes system identification methods to develop an empirical model of a spoked bicycle wheel. The model is employed to determine the optimal tension adjustments necessary to align the wheel in lateral and radial directions while maintaining uniform spoke tension. The technique allows the mean tension of the spokes to be adjusted independently from variations around the mean. Additionally, a control algorithm is developed that uses lateral feedback and predicted intermediate wheel states to bring the wheel into alignment to a desired tension. Experimental validation of the algorithm is demonstrated on a poorly tensioned and misaligned wheel.